Multi-finger surface visuo-haptic rendering using electrostatic stimulation with force-direction sensing gloves

This article describes a new prototype of multi-touch surface visuo-haptic system using in-direct electrostatic stimulation. The prototype consists of a 40-inch large LCD monitor and a pair of operation gloves which are equipped with force generation pads, motion detection markers, and force-direction sensors. A user wearing the gloves can experience multi-finger passive haptic feedback from virtual objects on the monitor with four fingers independently. The article also discusses several rendering algorithms for static objects, textured surfaces, and dynamic objects. Utilizing force direction in haptic rendering, the system can solve the sticky wall problem which is commonly found in passive haptic systems. In rendering of dynamic objects, however, an interesting phenomenon named as “object stiction” was newly found, which would be unique to multi-finger passive haptic displays.