Abstract :
Summary form only given, as follows. During interaction with an environment using a stylus-like tool, we experience both kinesthetic forces and tactile sensations. Friction between the fingerpad skin and the tool causes tangential shear force and fingerpad skin stretch, while pressure between the tool and the fingerpad skin causes normal skin deformation. We attempt to replicate these tactile sensations, without the kinesthetic force components, using our 3-Degree-of-Freedom (DoF) skin deformation device. Tactile sensations are delivered in a manner consistent with our experience when using a stylus-like tool to interact with objects. In this demonstration, users will employ our 3-DoF skin deformation device, attached to a force feedback haptic device, to perform a series of haptic tasks: (1) shape identification, (2) needle insertion, (3) locating a hole, and (4) surface friction identification. Users will be able to compare the cases of skin deformation only, force feedback only, and a combination of the two.
