Remote measurement of surface compliance distribution for haptic broadcasting

In this paper, we propose a remote measurement method of surface compliance distribution for haptic broadcasting. Our system consists of an ultrasound phased array and a laser displacement sensor. We built a system to examine the feasibility of this method. The surface compliance distribution comparable to the human skin was successfully measured. At last, we performed a preliminary experiment of displaying the obtained surface compliance distribution and a psychophysical experiment to confirm sufficiency of the compliance resolution.