Theoretical and experimental study of a heat transfer model for thermal feedback in virtual environments

This paper presents a theoretical and experimental study of a model describing the heat exchange between a fingertip and any given touched object. This model is solved and implemented on a thermal display incorporated into a haptic device. Thermal feedback can assist in object identification, representation or in the creation of a complete haptic signature of a given object. Alternatively, thermal feedback could be used as a sensory substitute or adjunct for visual or tactile feedback. Experimental results validating the proposed thermal model are evaluated when touching virtual objects in virtual environments.