Compact Tactile Display for Fingertips with Multiple Vibrotactile Actuator and Thermoelectric Module

In this paper, a compact tactile display which consists of multiple vibrotactile actuators with 4-different vibrotactile unbalanced masses and a Peltier thermoelectric module is proposed. By stimulating 2 different sensory channels including mechanoreceptors and thermoreceptor simultaneously, surface texture and material composition can be displayed using the implemented device. 3 experiments were conducted for the performance evaluation of the proposed device through discriminating various patterned textures. Experimental results show that the developed device can be used to display surface texture and temperature together and suggest the possibility of implementing a small-sized, multi-fingered tactile display device.