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Tactile Display:

Psychophysics, Materials, Design,

Examples and Applications

2010.01.27

Ki-Uk Kyung

[email protected]

HCI 2010 Haptics Workshop

2

Outline

Introduction to tactile display

Nature of Human tactile perception

Neural Aspect of tactile perception

Biomechanics

Design of tactile display

Capability

Mechanism & Materials

Examples of tactile displays

3

Concepts of “Tactile Display”?

Literature

The ideal tactile display implementation would

provide the user with a sensation indistinguishable

from direct contact. [M.A. Srinivasan]

Tactile displays attempts to realistically simulate

physical phenomena between skin and contact

surface that occur during interaction with real objects

by transmitting small-scale shape, vibration and

roughness information. [R. Howe, Haptic Community]

4

What is “Tactile Display”?

Tactile display is

physical mechanism or device that providing

tactile sense to a user

Tactile sense includes

sensation of distributed pressure, thermal

characteristics, skin vibration, skin stretch and

pain perceived through the skin.

5

Tactile Display in its Early Stages

Births of remarkable force feedback devices in the early

1990s

Commercialization of force feedback devices in the late

1990s ~ early 2000s

Tactile displays have been investigated from the late

1990s.

PHANToM, MIT, 1994

Pantograph, McGill University, 1994

Iwata lab’s Haptic Master, Univ. of Tsukuba, 1994

Tactile Shape Display, Harvard Univ., 2003

Tactile Display, Forschungszentrum Karlsruhe, 1997

6

Tactile Display and Interdisciplinary

Studies

7

Outline

Introduction to tactile display

Nature of Human tactile perception

Neural Aspect of tactile perception

Biomechanics

Design of tactile display

Capability

Mechanism & Materials

Examples of tactile displays

Reading list

8

Sensory Processing Begins in

Receptor Cells

concept

of labeled

line

9

Tactile Sensing Receptors

Tactile Sensing is the result of a chain of events that starts with stimulus applied to the body

Mechanoreceptor respond to mechanical action

Thermoreceptor respond to a change in skin temperature

Nocioreceptor convey the sensation of pain (nociceptor)

10

Sensory Adaptation: Receptor Response can Decline even if the Stimulus is maintained

11

Properties of Skin Receptors Related

to Touch

Receptors

Merkel’s Disks Ruffini’s Ending Meissner’s Corpuscle Pacinian Corpuscle

Function Edges, Indentation Skin stretch Velocity, Edges Vibration

Receptive Fieldsmall,

sharp

borders

large,

vague

borders

small,

sharp

borders

large,

vague

borders

Stimulus

Response

Slow Adaptation I Slow Adaptation II Rapid Adaptation I Rapid Adaptation II

12

Touch Receptors Responding to

Braille

13

Free Nerve Endings receptors that

Detect Pain and Temperature

CMR1

Cool-menthol receptor 1

C fiber

VR1

Vanilloid Receptor

C fiber

VRL1

Vanilloid receptor-like protein

Myelinated Ad fibers to a spinal

cord.

Human discerns materials

based on the differences of

their specific heat that causes

different heat flow rates.

14

Antinociception Design

Vibratory Antinociception Sensitivity

15

Comparison of Behavior and Sensory

System in TOUCH

Behavioral Research Underlying Neural Mechanism

Roughness/Smoothness:

Coarse: Internal Element spacing (Spatial feedback)

Fine: vibration (temporal feedback)

DuplexTheory

Coarse: Coded in a somatosensory system by SAI neuron

Fine: Coded in a somatosensory system by RAII neuron

Hardness/Softness: Power of function of physical

compliance (force/indentation)

Macro-scale: Golgi tendon, muscle spindle

Micro-scale: no confirmed conclusion. Maybe SAI

Warmth/cool: temperature, Material’s specific heat,

Thermal sensations adopt 18-45oC

Sensation of warm, or cool respectively

Warm: gaining heat, VR, VRL1 receptors

Cool: losing heat, CMR1 receptor

Total heat flow rate is an important factor

Weight: mass Responsibility of the kinesthetic system

Recent research show cutaneous cues contribute to

perception of weight

2D geometric pattern: surface’s geometric form

spatial resolving capacity

Coded in a somatosensory system by SAI and RAI

(high innervation densities )

3D curvature: macro-scale geometry SAI : distributed pressure

RAI: fine information

kinesthetic system: geometry

16

Vibrotactile Thresholds

PC : Pacinian fibers NPI: Meissner’s corpuscle NPII: Ruffini Ending NPIII : Merkel’s cell

17

Frequency-Thresholds and

Contactor Area

[Verrillo, 1966-1988]

18

Sensation Level (Measured)

[Verrillo, 1969]

19

Spatial Resolution

Receptive field size of mechanoreceptor

Average separation distance is 2.5mm

Palm has 11mm spatial resolution

Warm temperature improves discrimination

Two-point spatial discrimination for the fingertip

Receptor TypeRate of

Adaptation

Receptive

FieldResolution

Merkel Disks SA-ISmall, Well

definedMore Accurate

Ruffini Endings SA-IILarge,

Indistinct

Low Spatial

Resolution

Meissner

CorpusclesRA-I

Small, Well

definedMore Accurate

Pacinian

CorpusclesRA-II

Large,

Indistinct

Low Spatial

Resolution

20

Spatial Acuity: Tactile Perception

Threshold at Various Body Sites

Two-point thresholds,Weber, 1834; Weinstein, 1968; Johnson, 1981; Craig, 2001

21

Temporal Resolution

Successiveness limen (SL)

the time threshold for which subjects are able to

detect two consecutive stimuli

Average SL value is around 5 msecs

But to perceive the order of stimuli, the same

time interval between stimuli grows to 20 msecs

22

Experiments for Measuring the

Impedance of Finger

Setup A pneumatic piston with

a small platform

An arm support for the wrist

Piston displacement : 5mm

Time to move : 50 msec

Time to prevent voluntary

muscle contraction

Acceleration on the moving platform

Experimental Procedure Press against the mobile platform past a randomly changed

force threshold(2 to 20 N)

Once the threshold was exceeded, the piston pushes the finger upward

23

Finger Mechanical Impedance II

The displacement of the probe is controlled, and contact force of the skin against the probe is measured.

Diller & Srinivasan[2004], Kyung & Srinivasan[2005]

24

The Impedance of Skin and Stimulation

Frequency

Measured the impedance of the finger tip and thenar eminance at 9 frequencies ranging from 1 Hz to 100 Hz.

Human tissues have viscoelestic property.

(a)Force vs. Position at 10 Hz (b) Force vs. Position at 32 Hz (c) Force vs. Position at 100 Hz

25

The Impedance of Skin and

Stimulation Frequency

Frequency Response of Human Skin - Impedance

0

0.05

0.1

0.15

0.2

0.25

1 2 3 6 10 18 32 56 100

Frequency (Hz, log scale)

Impe

danc

e M

agni

tude

(N

/mm

)

Finger Pad

Palm

Geometry causes a different impedance variation as a

function of frequency.

26

Outline

Introduction to tactile display

Nature of Human tactile perception

Neural Aspect of tactile perception

Biomechanics

Design of tactile display

Mechanism & Design Parameters

Materials

Examples of tactile displays

Reading list

27

Tactile Display Types

28

Pin-Arrayed Display

Normal movement of pin

The most typical

Design Parameters Actuator type

Number of pins, Arrangement

Pin diameter

Body part and gap of pins

Displacement

Exerting force

Frequency band width (response time)

Note Size of device, Size of power controller

29

Shear Display

Shear between the skin and surface

Design Parameters• Contact surface

• Number shear generator

• Speed

• Exerting shear force

• Frequency band width (response time)

Note

• Feasibility

30

Pneumatic Display

Air jet pressure/suction

Design Parameters Shape of contact area

Power of compressor/pump

Number of nozzles, Gap of nozzles

Size of tube and hole

Maximum pressure

Frequency band width (response time)

Note Quantitative controllability

Size of device

31

Electrocutaneous Display

Electrode on the skin

Design Parameters

Supplying voltage/current

Number of electrode

Gap of electrodes

Body part and surface condition

Note

Electric shock

Feasibility

32

Electrostatic Display

Electrostatic force between the electrified material and electrode

Design Parameters Electric potential difference

Electrified material design

Electrode design

Number of electrodes

Body part and surface condition

Note Circuit design

Weak electrostatic force

33

Vibrotactile Display

Vibration

Design Parameters Vibrator type

Number of vibrators

Vibrator arrangement

Vibration intensity

Note Isolation of vibrators

Quantitative control

Temporal response

34

Thermal Display

Heat flow rate

Design parameters Heat capacity

Thermal conductivity & heat flow rate

Size of a thermal unit

Number of thermal units

Size of a temperature sensor

Bilateral current feedback circuit design

Note Cooler (Heat dissipation) design

35

Actuators & Materials

Linear motion type Piezoelectric actuator

Linear motor

Solenoid

Voice Coil

SMA (shape memory alloy)

Electro-active polymer

Shear type Piezoelectric bimorph

Electro-active polymer

Rotary motor

Vibration type Linear vibrator

Rotary vibrator

Pneumatic type• Piston• Air pressure• Suction

Electrotactile type• Electrostatic force• Electrocutaneous

stimulation

Friction/Viscosity type• Electro-Rheological Fluid• Magnetic-Rheological

Fluid

Thermoelectric type• Peltier module

36

Piezoelectric Actuator –Stack type

Principle Piezoelectricity of

piezoceramic materials

Characteristics very high force

Bandwidth: 10 ~ 5000Hz

Application Linear actuator, linear vibrator

Producer PI, APC, EDO

Note Low displacement(<0.1mm), high operating voltage(>300V)

Brittle

37

Piezoelectric Actuator –Strip type

Principle Multi-layered Piezoelectric bimorph

Characteristics High position range (>1mm)

Low operating voltage (<150V)

Bandwidth: 50 ~ 350 Hz

Application Linear motion generator

Shear motion generator

Producer PI, APC, Piezo Systems

Note Brittle

Weak thrusting force (<1N)

38

Piezoelectric Actuator – Ultrasonic

type

Principle Piezoelectric membrane

Repetition of impact movement

Characteristics Low operating voltage

High displacement

Bandwidth: 5~100 Hz

Application Small linear actuator

Producer Piezotechnology, PI

Note Weak thrusting force (<1.5N)

A

A

Shaft

Transducer

MovingElement

39

Piezoelectric Actuator – Disk type

Principle Stack type

Characteristics Strong Force > 10N

Nano-scale position resolution

Application Psychophysics Experiment

vibrator

Producer PI, APC

Note Size issue

40

Voice Coil Actuator (Transducer)

Principle• Coil moving in a magnetic field

Characteristics• Strong Force : 1~5000N

• Long Stroke, Fast response

Application• Servo component

• vibrator

Producer• BEI Kimco, EAI

Note• High thermal resistance

• Miniaturization issue

41

Shape Memory Alloy (SMA)

Principle

Cu-Zn-Al-Ni, Cu-Al-Ni, Ni-Ti alloys

Characteristics

Strong force

Easy to handle

Bandwidth < 10Hz

Application

Cable driven mechanism, Industry

Producer

Special Metals, Memry, Nimesis

Note

Cooler design issue

ξ (T) represents the martensite fraction

Ms : starts to change from austenite to martensite upon cooling

Mf : the temperature at which the transition is finished

As,Af: temperatures at which the reverse transformation from

martensite to austenite starts and finishes

SMA wire

SMA wire

42

Pneumatic Actuator

Principle converts energy in the form of compressed air into motion

Characteristics Piston: strong force, slow response, big size

Air injection: compact, hard to localize, hard to quantify, weak force

Suction: compact, easy to localize, hard to quantify

Bandwidth < 10Hz

Application Servo component, Industry

Micro Pump/compressor Producer Alldo, ENOMOTO

Note Miniaturization issue

Quantification issue

43

Electroactive Polymer (EAP)

Principle Polymer type, a kind of piezoelectric materials

Characteristics Electronic types: rapid response (msec),

large force

Ionic type: large displacement, low operation voltage, bandwidth < 10Hz

Application Very small actuator and sensor

Artificial muscle

Producer Artificial Muscle, Inc.(AMI),

Note Electronic type: very high voltages required ( > 1000V),

circuit (high voltage DC-DC converter) design issue

Ionic type: ionized surface condition issue for deionization

Ionic type

44

Electro-Rheological(ER) Fluid

Principle Suspensions of fine non-conducting particles

and their response to the electric field

Characteristics Viscosity range:

low viscous fluid ~ rigid body

Fast response : order of msecs

Application Damper, Break

Producer Smart Technology

Note Mechanism design, insulating issue

Highly sensitive -> stabilization issue

EAP

46

Magneto-Rheological (MR) Fluid

Principle suspension of micrometre-sized magnetic

particles in a carrier fluid and their responseto the magnetic field

Characteristics Viscosity range:

low viscous fluid ~ rigid body

Fast response : order of msecs

Application Damper, Break

Producer Lord Corp.

Note Mechanism design issue

Isolation issue

47

Thermoelectric (Peltier) Module

standard custom

micro

Principle Application• Thermal display, cooler/heater

Producer• TE Technology, Inc.

48

Outline

Introduction to tactile display

Nature of Human tactile perception

Neural Aspect of tactile perception

Biomechanics

Design of tactile display

Mechanism & Capability

Materials

Examples of tactile displays

Reading list

49

OPTACON: Braille Display

Braille Display

Optaton (Optical to Tactile CONverter)

Developer Telesensory Systems Inc, 1970~

Specification Text scanning and Braille display

Vibrotactile reading aid for the blind

Key technology Camera vision

Piezoelectric biomorphs

Link

http://www.freedomscientific.com/fs_downloads/optacon.asp

50

Braille Display

Smart Graphical Tactile device

Developer

Smart Technology, 2004~

Specification

Multi-line Braille display

A4 size full graphical tactile display

Key technology

ER fluid

Link

http://www.smarttec.co.uk/tactile.htm

51

Tactile Array

Programmable tactile array

Developer Hasser, TiNi Alloy,1993

Specification 1mm diameter, 1.5mm spacing

1mm displacement, 6g force

5x6 pin array

Binary position

Bandwidth < 3Hz

Key technology Shape memory alloy

SMA thin film pneumatic micro actuator

Link http://www.hitl.washington.edu/scivw/scivw-ftp/publications/IDA-

pdf/HAPTIC1.PDF

52

Tactile Display for the Blind

Video TIM

Developer

Abtim, Germany

Specification

2.5mm dot spacing

4x4 cm size, 256 dots

24 pictures/sec

Zoom in and zoom out

Weight 800g, (1000g including camera)

Key technology

Piezoelectric actuator

Link

http://www.abtim.de/home__e_/the_videotim/the_videotim.html

53

Vibratory Tactile Display with Pin-

array

Texture Explorer

Developer Ikei, 1997

Specification 5x10 pin array, 2mm spacing

0.5mm pin diameter

Fixed vibration frequency: 250Hz

150V driving voltage

Maximum displacement: 22μm

Texture display

Key technology Piezoelectric bimorph

Optacon mechanism

Link Vibratory Tactile Display of Image-Based Textures, Source IEEE

Computer Graphics and Applications

54

KAT(KAIST Artificial Touch)

Developer Kyung and Kwon, KAIST, 2005

Specification 5x6 pin array, 6g force

1.8 mm spacing

0.7mm displacement

Vibration disp. > 30dBSL

Bandwidth: 350Hz

Tactile display mouse

Key technology Woven arrangement

Piezoelectric bimorph

Link A compact planar distributed tactile display and effects of frequency on texture

judgment, Advanced Robotics, Vol. 20(3), 2006

Texture Display Mouse: Vibrotactile Pattern and Roughness Display, IEEE/ASME Transaction on Mechatronics, Vol.12 (3), 2007

http://robot.kaist.ac.kr/~kyungku/bbs/zboard.php?id=movie_clip

KAT Tactile Display Mouse

55

High Bandwidth SMA Tactile Display

High bandwidth SMA tactile display

Developer Wellman, Howe, Havard Univ., 1997

Specification 1 line 10 pins

2mm spacing

3mm stroke

Bandwidth: 40Hz

Photo-coupling position sening

Key technology SMA and direct water cooling

Link Mechanical Design and Control of a

HighBandwidth Shape Memory Alloy Tactile Display, International Symposium on Experimental Robotics, 1997

56

Pen-like Tactile Interface

Ubi-Pen

Developer Kyung and Park, ETRI, 2007

Specification 3x3 pin array, compact size controller

3 mm spacing, 1 mm displacement

Pattern, Braille display

Bandwidth: 20Hz

Combination with vibrotactile display

Haptic stylus interface on a touch screen

Key technology Piezoelectric ultrasonic motor

Woven arrangement

Link Ubi-Pen I, Design and Applications of a Pen-Like Haptic Interface with

Texture and Vibrotactile Display, IEEE Computer Graphics and Applications, 2008

57

Thermal Display

Temperature Display

Developer Ino, Hokkaido Univ.1993

Specification -10~60°C temperature range

0.1°C temperature resolution

4x4 cm2 plate

RS232 interface

Test bed for psychophysical experiment

Key technology Thermocouple and Peltier module

Link http://www.hitl.washington.edu/scivw/scivw-ftp/publications/IDA-

pdf/HAPTIC1.PDF

58

Combination of Thermal Display and

Pin-Array

Holistic Tactile Display

Developer Yang, Kyung, Kwon, KAIST, 2006

Specification 1.8 mm pin spacing

0~50°C temperature range

2°C/s cooling rate, 4°C/s heating rate

Holistic display mouse

Key technology RTD and Peltier module

Link Quantitative Tactile Display Device

with Pin-Array Type Tactile Feedback and Thermal Feedback, ICRA2006

59

Mouse Type Interface

Modified tactile feedback mouse

Developer Akamatsu, AIST, 1995

Specification Unique aluminum pin, 1x2 mm

pull-type solenoid (KGS Corp., 31x15x10 mm)via a lever mechanism

The pin covered by a rubber film fixed to the backside of the mouse button

1mm stroke, 12V driving voltage

Key technology Solenoid driven pin and a conventional mouse

Link A comparison of tactile, auditory and visual

feedback in a pointing task using a mouse-typedevice. Ergonomics, 1995

60

Tactile Glove

CyberGlove

Developer Virtual Technologies, 1995

Specification Vibrator

RS232 interface

Bandwidth: 0~125 Hz

Stimulator size: 0.5~1.5 inches

Key technology 3D position sensing and vibration feedback

Link http://www.hitl.washington.edu/scivw/scivw-ftp/publications/IDA-

pdf/HAPTIC1.PDF

61

Pneumatic Data Glove

Non-constrained master Arm

Developer Sato, Toshiba Nuclear

Engineering Laboratory, 1991

Specification Ring basis pneumatic actuator

8mm diameter

12mm long

2kg/cm2 maximum pressure

Key technology Balloon actuator with VPL Data Glove

Link Development of non-constrained master arm

with tactile feedback device, ICAR 1991

62

Pneumatic Tactile Display

ARRL Interface

Developer Salford University

Specification Three pneumatic actuators

Tactile feedback when hand enters incontact with a virtual object

Pins are controlled by servo-valve

Key technology Pneumatic actuators (inflating balloons)

Link Tactile interfaces: a state-of-the-art survey - Int. Symposium on

Robotics, 2004

63

Pneumatic Display

ER Fluid based Tactile Array

Developer Cohn, Fearing, Univ. of California Berkeley,

1993

Specification 5x5 pneumatic stimulators (pistons)

2mm spacing

Piston’s max. travel: 3mm

Piston diameter : 0.8mm

Air pressure 75PSI

Max. force out per piston: 0.34N

Bandwidth : 7Hz

Key technology Air pressure and piston

Link Tactile feedback for teleoperation, Proceedings of SPIE 1993

64

Pneumatic Display

Suction Pressure Stimulation (SPS)

Developer• Shinoda, University of Tokyo, 2004~

Specification• 4.5mm suction hole diameter

• Stimulation- S-primitive: air pressure for a long time, for SAI

- R primitive: 40Hz, high pressure, for RAI

- S+R primitive: S primitive + R primitive

Key technology• Suction pressure

• Characteristics of mechanoreceptors

Link

• Selective Stimulation to Superficial Mechanoreceptors by Temporal Control of Suction Pressure, Worldhaptic 2005

65

MEMS based Tactile Display

Tactile Displays Realized Using MEMS Actuator Arrays

Developer Gabriel(CMU), Srinivasan(MIT)

Description

The chambers are covered and sealed bya common membrane such that when the membrane covering the outer chamber is displaced by electrostatic force, the membrane covering the inner chamber is also displaced (a greater distance) by the movement of the fluid. (under developing)

Key technology

Two gas- or fluid-filled chambers

Electro static force, MEMS technology

Link

http://www.rle.mit.edu/media/pr142/23_Srinivasan_02.pdf

66

Shear Display

Artificial Tactile Feel Display

Developer Konyo, Takamori, Tohoku Univ. 2003

Specification 5x11 cilia

Slope: 45° Bandwidth > 100Hz

1.0~1.5V driving voltage

Submerged in the water

Indentation and shear

Key technology Electro Active Polymer, ICPF

(Ionic Conducting Polymer gel Film)

Link Artificial tactile feel display using soft

gel actuators, Proc. IEEE ICRA2000.

67

Passive Tactile Display

ER Fluid based Tactile Array

Developer Taylor, Hull University, 1998

Specification 5x5 tactile array

Supply voltage: 3kV

Conductive rubber thickness 0.28mm

11mm sided aluminum square

2mm gap

Scanned with fixed speed of 8mm/s

Key technology Electro Active Polymer, ICPF

(Ionic Conducting Polymer gel Film)

Link Advances in an electrorheological fluid

based tactile array, Displays, 1998

68

Roughness Display

SAW Tactile Display

Developer

Nara, Tachi, University of Tokyo, 2001

Specification

Roughness range: sandpaper #320~#60

Key technology

Surface acoustic wave and stick slip

Shear stress/friction change

Link

Surface acoustic wave tactile display,

Computer Graphics and Applications, 2001

69

3D Tangible Display

The MATRIX (Multipurpose Arrayof Tactile Rods for Interactive eXpression)

Developer

Overholt, MIT Media Lab, 2001

Specification

3 dimensional tangible interface

12x12 grid

Optical position sensing

For musical expression

Key technology

Spring mounted rod

Link

Multipurpose Array of Tangile Rods for Interactive sXpression, SIGGRAPH 2001

70

Selective Stimulation

Selective Stimulator

Developer

Shinoda, University of Tokyo, 1998

Specification

Air pressure stimulates shallow receptors

Vibration stimulates both shallow and

deep receptors

Key technology

Combination of air pressure and tactile stimuli

and selective stimulation

Link

Selectively Stimulating Skin Receptors for

Tactile Display, IEEE Computer Graphics

and Applications, 1998

71

Electrostatic Tactile Display

Electrostatic Tactile Display

Developer Yamamoto, University of Tokyo, 2003~

Specification 50 electrodes

Voltage range: 100~200V

Operating current: 50μm

Linear encoder

Key technology Electrostatic force

Link Electrostatic tactile display for presenting

surface roughness sensation, IEEE International Conference on Industrial Technology, 2003

Electrostatic Tactile Display with Thin Film Slider and Its Application to Tactile Telepresentation Systems, IEEE Transactionson Visualization and Computer Graphics, 2006

72

Electrocutaneous Tactile Display

SmartTouch

Developer Kajimoto, Tachi,

University of Tokyo, 2003

Specification 4x4 electrodes, 1mm diameter

2.5mm, 2.0mm spacing

02msec, 1.0~3.0mA

Phototransistor (SHARPPT600T)

Thin film force sensor (NITTA FlexiForce)

Key Technology Electrical stimulation

Link SmartTouch - Augmentation of Skin

Sensation with Electrocutaneous Display, IEEE Haptic Symposium, 2003

73

Electrocutaneous Display

Electrotactile Display

Developer Kaczmarek, Haase, University of Wisconsin, 2003

Specification 7x7 electrodes

2.54mm spacing

Waveform variables Burst Frequency (F), number of pulses per burst

(NPB), and pulse repetition rate (PRR)

0~6.5 mA

Stimuluswaveform C for stimulation electrodes 1, 2, and 49; electrodes are pulsed sequentially in a raster-scan format. Frequency F = 30 Hz, NPB = 3, and PRR = 300 Hz. The pulsewidth for all electrodes is 50 μs.

Key Technology Electric stimuli

Link Pattern identification and perceived stimulus

quality as a function of stimulation waveform on a fingertip-scanned electrotactile display, IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2003

(=PRR/49)

74

Wearable Tactile Display

Wearable tactile feel display

Developer Konyo, Takamori, Tohoku Univ. 2003

Specification

sufficient softness :Young’s modulusE = 2.2 × 108 Pa

High-speed response ( > 200 Hz)

low operation voltage : 0.5 − 6.0 V

Key technology Electro Active Polymer

ICPF (Ionic Conducting Polymer gel Film)

Simple operation mechanism and miniaturization

Link Tactile Feel Display for Virtual Active Touch,

Proc. IEEE/RSJ IROS 2003.

75

Wearable Tactile Display

Arm Array, Torso Band

Developer Piateski, Jones, MIT, 2005

Specification 3x3 cylindrical vibrating motor array

2.5~8.8V

24mm spacing

4x4 pan-cake motor array 2.0~4.0 V

40mm, 60mm spacing

Pulse of the motor lasted approximately 0.5 s

The pulses were separated by a gap of 0.5 s.

Pattern generation

Key Technology Vibrator: cylindrical type, pan-cake type

Link Vibrotactile pattern recognition on the arm

and torso, Worldhaptics 2005

76

Wearable Hapic Display

Wearable Haptic Display for Situation Awareness

Developer Traylor, Tan, Purdue Univ., 2002

Specification The tactor

modified from a flat speaker

4 cm diameter

resonant frequency: 300 Hz

Different loudness of vibrotactile stimulation under different gravity conditions.

Tactors on arm and the back

Key technology From vibration intensity to perceived acceleration

Link Development of a Wearable Haptic Display

for Situation Awareness in Altered-gravity Environment: Some Initial Findings, IEEE Haptic Symposium 2002

Combination of Tactile and Kinaesthetic

Display

T-pad

Mechanism

Piezoelectric disc

2DOF Pantograph

Tactile Information

Surface Friction

patterns

77

Haptics for Mobile Devices

79

Commercial Tactile Interface for

Mobile Device

VibeTonz

Developer Immersion Corporation, 200x

Specification Vibration effect

available for the mobile implementation environments including C, C++, Java, BREW, and WIPI.

Alert, Caller ID, music, messaging, ringtones, and gaming

Key technology SDK and VibeTonz Actuator

Link http://www.immersion.com/mobility/

http://www.immersion.com/mobility/docs/VibeTonz_Mobile_Player_0305_v1.pdf

80

Haptic Emoticon

Haptic emoticon

Developer Immersion Corporation, 2006

Specification The feeling mail service

Combination of vibration and light

Key technology VibeTonz

Link http://static.fiercemarkets.com/public

/ads/immersion/haptics_improving-mobile-ue-through-touch.pdf

81

TouchEngine

Developer Poupvrev, Sony, 2002

Specification Driving voltage: ±8-10V

30x8x0.5 mm size

Bandwidth > 10kHz

0.2mm displacement

5G acceleration range

Impact force generation based on acceleration

Available for only small touch screen

Key technology Multi-layers of piezoelectric bimorphs

Link

TouchEngine: A Tactile Display for Handheld Devices, CHI 2002

Tactile Display for Handheld Device

82

Tactile Display for Handheld Device

Tacton: Tactile Button

Developer Brown, Brewster, University of Glasgow, 2005

Specification Form sound wave to tactile pattern

Button clicking sense

Menu control

Key technology EIA C2 Tactor Voicecoil Vibrator

Link

A First Investigation into the Effectiveness of Tactons, Worldhaptic 2005

http://eprints.gla.ac.uk/3441/01/first_invest_Tacton.pdf

83

High Resolution Shear Display

STReSS

Developer Pasquero, Hayward,

McGill Univ.,2003~

Specification 10x10 array, 1mm spacing

Bandwidth 700Hz

±40V

100 switches

Maximum movement: 25μm

Key technology Piezoelectric Bimorph

Link STReSS: A Practical Tactile Display System with

One Millimeter Spatial Resolution and 700 Hz Refresh Rate, Eurohaptic 2003

http://www.cim.mcgill.ca/~haptic/

84

Shear Display for Mobile Device

Handheld Tactile Display

Developer Luk, Hayward,

McGill Univ.,2006~

Specification Exploration on Mobile device

Haptic icons

±50V

0.34, 0.23, 0.17 m/s

Waveform: tri, roll, saw, bump, edge

Key technology Piezoelectric Bimorph

Link A role for haptics in mobile interaction:

initial design using a handheld tactile display prototype, CHI '06

http://www.cim.mcgill.ca/~haptic/

85

Touch Feedback Screen The TouchSense System

Developer Immersion Corporation, 200x

Specification TouchSense actuators

Assembly of touchpanel and display

Integration KIT

Button click

Industrial applications

Key technology Solenoid actuators at corners

Link

http://www.immersion.com/industrial/docs/touchscreen_may06_V2-LR.pdf

http://www.immersion.com/industrial/docs/ts-integration-kit_apr07_V2lr.pdf

86

Pen-like Haptic Interface

Haptic-Pen

Developer Lee, Carnegie Mellon Univ., 2004

Specification Accelerometer (ADXL202)

Pressure sensor

Solenoid (Guardian Electronics): 20V power supply: response time < 5msecs

5 basic solenoid action: Off, Hold, Life, Hop, Buzz

Demonstrating click sensation

Key technology Pressure sensing and Solenoid

Link Haptic Pen: A Tactile Feedback Stylus

for Touch Screens, CHI 2004

http://www.youtube.com/watch?v=Sk-ExWeA03Y

87

Pen-like Multi-modal Interface

wUbi-Pen

Developer Kyung and Lee, ETRI, 2007

Specification 3x3 pin array, compact size controller

3 mm spacing, 1 mm displacement

Pattern, Braille display

Bandwidth: 20Hz

Windows haptic user interface

Haptic stylus interface on a touch screen: button, window/icon movement, hyperlink, scroll, menu, popup

Wireless communication

Sound feedback

Key technology Piezoelectric ultrasonic motor, Linear impact vibrator

Link http://www.zdnet.co.kr/webtv/digital/0,39034168,39163954,00.htm

88

wUbi-Pen: Internal Structure

WUbi-Pen Type I

Impulse, vibration, texture, Braille, sound feedback

Stand-alone, Wireless communication

WUbi-Pen Type II

Vibration, texture, sound feedback

Stand-alone, Wireless communication

Microphone

bluetoothmodule

battery

controller

speaker

microphone

Impulse generator

vibrator

vibrator

89

Haptic Feedback Windows Interface

Menu Pop-Up/Selection (F)

(T)

(E) (V)

(C)

(P)

(L)

(A)

Windows Size ControlETRIETRI

Scroll

ETRI Window

ETRI WindowETRI Window

Maximize/Minimize

Close

Move/Drag and Drop

Buttons

WUbi-Pen

Start

90

Image Display Based on

Gray ValuesSymbolic Pointer

Raw Image Extraction of

Gray Value

Intensity of

Tactile Display

Link

• Ubi-Pen II, Haptic Stylus and Empirical Studies on Braille, Button and Texture Display, Journal of Biomedicine and Biotechnology, 2008

Impact

Feedback

mass

position

high

low

iphone-haptics

Vibrotactile actuator

Tacton

Rotational motor

Touch-Feedback Touch Screen

Nokia

2 piezoelectric

sensor pads under

the screen

Realistic button

clicking

0.1 mm movement

Actuation Technology: Motorola’s

Approach

Click Test, Motorola’s Approach

진동모터의종류 및특성종류 회전형모터 공진형

선형모터

충격허용

선형모터

진동원리 회전에따른편심축의떨림(코인형/실린더형)

질량체의선형방향공진 질량체의선형운동

- 질량체의위치, 속도, 방향제어 가능

제어특성및

응답속도

-DC 제어

-response: 100ms

-settling time: 100ms

-동작주파수: 제어불가

-고정주파수AC제어

-response: 25 ms

-settling time: 50ms

-동작주파수: 150~200Hz

-PWM or 사각파제어

-response: 10ms 이내

-settling time: 0~50ms

-동작주파수: 0~300Hz

촉각적인느낌 - 크게넓게퍼지는가장강한진동

- Braking current활용

- 수직방향으로떨리는응집된느낌의진동

- 매우짧은위아래충돌

- 수직방향으로떨리는응집된느낌의진동

장단점 -장점: 저가

-단점: 제어성이매우 나쁨

-장점: 제어성이좋음

-단점: 정해진진동만발생,

전용드라이버필요

-장점: 제어성, 모드변환,

원하는패턴재현

-단점: 고가, 긴길이

크기 지름: 8~10mm

길이: 12~20mm

지름: 8~12mm

길이: 5~10mm

L: 5 x 7.5 x 35 mm

S: 2.5 x 3 x 25 mm

비고 최근햅틱폰등의등장으로인하여생산이급격히줄어들고있음. 단가 500

원이내

삼성전기, LS산전, 예일전자등에서자체생산

샘플구매불가

단가 1000원이내

일본 ALPS사생산

단가 5000원이내 (추정)

ROKR E8’s Button

Multi-Function Transducer, Motorola’s

Approach

NOKIA’a Approach

EAP, NOKIA’a Approach

100

Haptic Mobile Phone Concept

Haptic phone

Designer

Lukas Koh

Specification

Full body touchscreen phone

Link

http://www.yankodesign.com

/index.php/2007/08/07

/all-in-one-haptic-phone

Nokia Haptikos (Patent)

Localized haptic feedback on a touch screen

Thin and transparent actuators

Apple’s Tactility on a smooth flexible

touchscreen (Patent)

103

Future of Tactile Display

Materials Light, compact, strong output power, low power

consuming, large displacement, fast response

Transformable

Applications Mobile communication device

Combination of tactile display and force display

Game, virtual reality, simulators

Digital book, edutainment, movies

Human interface for computers

On-line shopping