The objective of this research was to realize human tactile exploration in a VR environment. For example, this capability would allow users to check the surface texture of products before purchasing them through online shopping or enhance the immersion of VR experiences. Therefore, this paper proposes a device that enables users to move their hands to trace virtual objects. This device provides tactile perception by tracing an image displayed on a screen using a cursor. We propose a soft vibration actuator mouse (SVA-M) that incorporates a haptic display into a computer mouse. The haptic display employs a soft vibration actuator (SVA). An SVA is a compact actuator that vibrates at high density, has a wide frequency range, and is capable of presenting high-resolution haptic feedback to the fingertip. We conducted a perception test to evaluate the spatial resolution of the haptic textures that the device could present. We investigate the spatial resolution of the haptic textures perceivable by humans by having participants trace six different haptic textures using the device. The results indicate that, under the reduced tracing speed imposed by device operation in a standard 60 Hz display environment, textures with haptic changes corresponding to hand movements of 0.16 mm or more can be reliably discriminated, establishing a criterion for haptic texture design in mouse-type haptic displays intended for everyday use.

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