Multipoint Vibrotactile Stimuli Based on Vibration Propagation Enhance Collision Sensation
This study investigated the influence of multipoint vibrotactile stimuli on the basis of propagated vibration on the perception of collision sensation through two experiments. In the first experiment, we measured the vibration waveforms generated by a ten
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Abstract. This study investigated the influence of multipoint vibrotactile stimuli on the basis of propagated vibration on the perception of collision sensation through two experiments. In the first experiment, we measured the vibration waveforms generated by a tennis ball hitting at the gripped racket, wrist, and elbow. The measured vibrations on the three positions displayed different profiles and frequency spectra, which appeared to be caused by the vibration propagation. In the second experiment, participants evaluated the vibrations reproduced on the basis of the measured vibration in terms of the display conditions using subjective evaluation. The results showed that multipoint vibrotactile stimuli improve the magnitude and size of area of collision sensation compared with a single-point vibration, and the unnatural condition in which multipoint stimuli containing recorded and unrecorded waveforms degraded the reality of reproduced collision sensation.
Keywords: Multipoint vibrotactile stimuli Tactile enhancement
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Vibration propagation
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Introduction
A realistic display method of haptic information is important in many research topics such as communication devices, medical technology, robotics and virtual reality. Several types of devices and methods have been developed, and one of the most frequently employed technologies is the vibrotactile display method. The magnitude of displayed sensation depends on the maximum output of a single vibrator, and such relationship appears to lead to the limitation in reality of sensation. To improve the magnitude and reality of haptic sensation, we propose a methodology of expressing vibration propagation using a combination of multipoint vibrotactile stimuli, as shown in Fig. 1. Some research activities reported that skin vibration propagates from a touch point such as finger or hand to the forearm. Delhaye et al. reported that texture-induced vibration is transmitted c Springer International Publishing Switzerland 2016 F. Bello et al. (Eds.): EuroHaptics 2016, Part II, LNCS 9775, pp. 65–74, 2016. DOI: 10.1007/978-3-319-42324-1 7
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S. Sakata et al.
Reproduction of collision sensation based on vibration propagation
Additional vibrators compensate for limit of output of single vibrator Limit Limit Vibrators
Collision vibration
Propagated vibration
Fig. 1. Multipoint vibrations based on vibration propagation for reproducing collision sensation
to the forearm from an exploring finger [1]. Tanaka et al. developed a tactile sensor to measure skin vibration transferred from a contact area [2]. Hennig et al. measured the propagation of collision vibration when a tennis ball is hit [3]. Thus, vibration waveforms associated with contact were observed at multiple points on a human body. Our approach is expected to enable this observation, even though the collision vibration is strong, which transcends the limitation of single-vibrator performance, as shown in Fig. 1. The propagated vibration at multiple points reproduced by additional vibrators improves the magnitude
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