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    This study shows that faster illusory stroke speeds on haptic interfaces enhance pleasantness and continuity. Pneumatic Unit Cell (PUC) actuators can create affective touch, with speed being the key rendering parameter.

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    Area of Science:

    • Human-Computer Interaction
    • Haptics
    • Affective Computing

    Background:

    • Affective touch via haptic interfaces is crucial for emotional responses.
    • Illusory stroke stimuli are a key form of affective touch.
    • Pneumatic Unit Cell (PUC) actuators offer a novel method for rendering touch.

    Purpose of the Study:

    • Investigate the impact of rendering parameters on illusory stroke perception.
    • Determine how traveling speed, stimulus onset asynchrony (SOA), and indentation pressure affect pleasantness and continuity.
    • Evaluate the potential of PUC actuators for affective touch applications.

    Main Methods:

    • Rendered illusory stroke stimuli using eight discrete PUC actuators on the forearm.
    • Systematically varied traveling speed, SOA, and indentation pressure.
    • Collected subjective feedback on perceived pleasantness and continuity.

    Main Results:

    • Higher traveling speeds significantly enhanced both pleasantness and continuity.
    • Stimulus onset asynchrony (SOA) had no significant effect on perception.
    • Indentation pressure moderately affected pleasantness, with high pressures decreasing it, but did not impact continuity.

    Conclusions:

    • Traveling speed is the most critical parameter for rendering pleasant and continuous illusory strokes.
    • PUC actuators show promise for creating affective touch experiences.
    • Findings inform the design of human-machine and human-robot interactions involving tactile feedback.