A surface acoustic wave tactile display with friction control

We 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 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. We analyzed a sliding motion of a finger on a rough solid surface and fabricated a prototype, which could express roughness successfully.