Haptogram: Aerial display of 3D vibrotactile sensation

We introduce Haptogram, a system designed to provide a 3D tactile feedback by employing acoustic radiation pressure; similar to a hologram providing a 3D visual display. Haptogram system is made up of a two-dimensional array of ultrasonic transducers to project discrete points of tactile feedback moved in three orthogonal directions to create a 3D tactile experience. A mathematical model describing the Haptogram system is presented. A simulation experiment is conducted by constructing a 3D tactile hemisphere to showcase the proposed system. Simulation results are encouraging and good enough to implement the Haptogram system in our immediate future work.