A texture display using vibrotactile and electrostatic friction stimuli surpasses one based on either type of stimulus

Abstract

This study demonstrates that the simultaneous use of two types of representative principles for tactile texture displays, vibrotactile and electrostatic friction stimulation surpasses either type of stimulation. We used a set of sinusoidal grating scales with different surface spatial periods as simulated textured surfaces for testing the quality of texture displays. Experimental participants judged the best stimulus condition among the vibrotactile, electrostatic friction, and the conjunctive stimuli in terms of the reality perceived from the simulated texture stimuli. The use of vibrotactile and electrostatic stimuli in conjunction was judged to be the most realistic for the spatial periods of 1 and 2 mm, whereas noticeable differences among the three stimuli conditions were not reported for small spatial periods of 0.2 and 0.5 mm. The simultaneous use is effective for simulating the surfaces with middle-level asperity.