Biomechanically Optimized Distributed Tactile Transducer Based on Lateral Skin Deformation

Abstract

In this paper we describe a tactile transducer device that is optimized from biomechanical data and that has a compact, yet modular design. The tactile transducer comprises a 6 × 10 piezoelectric bimorph actuator array with a spatial resolution of 1 .8 mm × 1 .2 mm and has a wide temporal bandwidth. The actuator mounting method was improved from a conventional cantilever method to a dual-pinned method, giving the actuator the ability to deform the glabrous skin maximally during laterotactile stimulation. The results were validated by asking subjects to detect tactile features under a wide range of operating conditions. The tactile display device is modular, makes use of ordinary fabrication methods, and can be assembled and dismantled in a short time for debugging and maintenance. It weighs 60 g, it is self-contained in a 150 cm 3 volume and may be interfaced to most computers, provided that two analog outputs and six digital I/O lines are available. Psychophysical experiments were carried out to assess its effectiveness in rendering virtual tactile features.