[D96] Variable friction and multi-actuator vibrotactile haptics on a tablet computer

Variable friction and multi-actuator vibrotactile haptic effects have been demonstrated separately from each other in the past. In this application, a TPad Tablet, containing a variable friction screen, has been combined with four independently controlled vibrotactile actuators to create a device which can render both types of effects. Users can receive localized lateral force information as their finger glides across the screen, and they can feel directional vibration information through their hand holding the device. Directionality with the vibrotactile actuators is achieved through the use of apparent haptic movement and phantom sensation. An example application has been developed in which users interact with a virtual ball on the surface of the tablet. Users can indirectly feel the ball interact with its environment as it rolls across the screen or bumps into obstacles. They can also interact with the ball directly to feel collision forces right at their fingertip.