ShiverPaD: A Glass Haptic Surface That Produces Shear Force on a Bare Finger

Area of Science:

• Human-Computer Interaction
• Robotics
• Haptics

Background:

• Traditional haptic surfaces struggle to provide nuanced tactile feedback.
• Existing ShiverPaD technology used low-frequency vibrations (<100 Hz) for shear force generation.
• Human perception of vibration is diminished at higher frequencies.

Purpose of the Study:

• To design and evaluate a novel haptic surface (ShiverPaD) with enhanced shear force control.
• To investigate the efficacy of higher frequency vibrations (854 Hz) for haptic feedback.
• To demonstrate the practical application of the new ShiverPaD for virtual object interaction.

Main Methods:

• Development of a new ShiverPaD utilizing a TPaD (Transducerized Pneumatic Actuator Device) variable friction device.
• Modulation of surface friction using 39 kHz out-of-plane vibrations to reduce friction.
• Generation of shear forces through in-plane oscillation ('shivering') with alternating friction states at 854 Hz.

Main Results:

• The new ShiverPaD successfully generates controllable shear forces at 854 Hz, a frequency range where human vibration sensitivity is reduced.
• The device was employed to render virtual tactile elements, including a toggle switch and various edges.
• A human subject study confirmed users could easily trace these virtual edges displayed on the haptic surface.

Conclusions:

• The novel 854 Hz ShiverPaD offers improved haptic feedback capabilities for shear force control.
• This technology enhances the realism of virtual object interaction by providing distinct tactile cues.
• The findings suggest potential for advanced applications in areas requiring precise tactile feedback, such as virtual reality and remote manipulation.