A cutaneous feeling display using suction pressure

In this paper, we propose a novel tactile display by controlling suction pressure. The method is based on our discovery of an illusion that pulling a skin through a hole creates a sensation as if a stick is pushing the skin. Based on this property of perception and multi-primitive stimulation method, we confirmed that we could produce tactile sensation from concentrated pressure to smooth surface by a sparse array of suction holes. We show the principle of the tactile display and experimental results that support the principle.