Tactile Texture Display with Vibrotactile and Electrostatic Friction Stimuli Mixed at Appropriate Ratio Presents Better Roughness Textures

Abstract

Vibrotactile and friction texture displays are good options for artificially presenting the roughness and frictional properties of textures, respectively. These two types of displays are compatible with touch panels and exhibit complementary characteristics. We combine vibrotactile and electrostatic friction texture displays to improve the quality of virtual textures, considering that actual textured surfaces are composed of both properties. We investigate their composition ratios when displaying roughness textures. Grating roughness scales with one of the six surface wavelengths are generated under 11 display conditions, and in 9 of which, vibrotactile and friction stimuli are combined with different composition ratios. A forced-choice experiment regarding subjective realism indicates that a vibrotactile stimulus with a slight variable-friction stimulus is effective for presenting quality textures for surface wavelengths greater than or equal to 1.0mm.