On utilizing pseudo-haptics for cutaneous fingertip haptic device

In this paper, we explore possible utility of pseudo-haptics for the cutaneous fingertip haptic device, whose performance is inherently limited due to the lack of kinesthetic feedback. We experimentally demonstrate that: 1) pseudo-haptics can render virtual stiffness to be more rigid or softer only by modulating visual cue; 2) pseudo-haptics can be used to expand the range of the perceived virtual stiffness; and 3) pseudo-haptics can be confusing, if the haptic and visual cues are contradictory and that contradiction is too large to be overridden by the visual perception dominance.