Cutaneous Fingertip Haptic Device with Pseudo-Haptics Effect

Abstract

We propose a novel design of cutaneous fingertip haptic device and approach of integrating pseudo-haptics into our cutaneous haptic device. With 2-DoF cutaneous device, angle-force calibration result is presented for its operation. Then, 3-DoF cutaneous haptic device is designed for more realistic contact feedback in virtual reality (VR). Preliminary result of integrating cutaneous device and hand tracking device for complete wearable haptic interface is also demonstrated. Meanwhile, we explore possible utility of pseudo-haptics for cutaneous fingertip haptic device, whose performance is inherently limited due to the lack of kinesthetic feedback. We experimentally demonstrate that: 1) pseudo-haptics can render virtual stiffness to be more rigid or softer only by modulating visual cue

and 2) pseudo-haptics can be used to expand the range of the perceived virtual stiffness to be doubled.