Development of a spatially transparent electrotactile display and its performance in grip force control

An important function for a tactile navigation system of a handheld tool, such as a surgical scalpel, is the spatial transparency of the device. This paper proposed a new tactile display that can augment touch sensation at the finger pulps without the need for a stimulator between the tool and the finger pulps. We utilized transcutaneous electrical nerve stimulation at the middle phalanx of a finger to separate the stimulated and the perceived areas. In order to verify the effects of the spatial transparency, the performances of grip force control were examined. The results indicated that the proposed display was effective in helping the user to maintain the stable control of the grip force when using a handheld tool.