TextureExplorer: a tactile and force display for virtual textures

This paper describes the TextureExplorer that combines tactile and force stimulators to present virtual textures to the user´s fingertip. A vibratory pin-array is employed for tactile stimulation in conjunction with the PHANToM for force reflection to perform haptic texture rendering. Simple controls were introduced to both tactile and force renderings to investigate basic characteristics of this combined haptic presentation. To clarify the effectiveness of vibratory 2D stimulation on a skin surface, a large-element texture discrimination experiment was conducted. Rendering by the TextureExplorer was compared with ordinary PHANToM force feedback without tactile stimulation. The observation suggested that the textures displayed by both tactile and force stimulations were perceived more accurately and rapidly than only force presentation through a single point contact