Characteristics of an active type surface acoustic wave tactile display

We (2001) have already proposed a novel method to provide human tactile sensation using surface acoustic wave (SAW). A pulse modulated driving voltage excites temporal distribution of standing SAW. The distribution generates alternative friction shift on the surface of a SAW substrate. When the surface with burst SAW is explored, the friction shift can be perceived as tactile sensation at mechanoreceptors in the finger skin. For real reproduction of tactile sensation, the burst frequency was controlled according to the measured rubbing speed. With a fabricated tactile display, we could enjoy the tactile sensation in the case of rubbing on a solid surface with roughness, and a difference of displayed sensation was compared.