Vibrotactile cues using tactile illusion for motion guidance

In this paper, we have developed motion guidance device with phantom sensation and sensory saltation. Phantom sensation and sensory saltation are famous tactile illusion effect for generating spatial and directional information. The device consists of 4 vibrotactile actuators, controller and small battery. It guides the estimated arm motions with vibrotactile cues. We were able to generate continuous vibration with the tactile illusion effect which induces the intentional motion. In order to evaluate the device and motion guidance algorithm, we measured total movement time in visual, acoustic and tactile cues on the elbow joint, forearm rotation and shoulder roll. Implications for the further tactile display method and applications with this device are discussed.