Tactile feeling display based on selective stimulation to skin mechanoreceptors

The human feels various tactile feeling by touching and rubbing the object lightly. In this paper, we propose a method to display such tactile feeling with reality. We produce the feeling by selective stimulation to each kind of mechanoreceptors, using elastic transfer property of the skin. Our system is composed of four magnet tips attached on the skin in a line and precisely driven by four coils. The two driving modes, the common phase mode and reversed phase mode, stimulate the deep receptors and shallow receptors in the skin, respectively. The system could give several types of tactile feeling with reality. The principle and experimental results are shown