Wearable Haptic Interface Using ICPF Actuators for Tactile Feel Display in Response to Hand Movements
Masashi Konyo*, Kazunobu Akazawa*, Satoshi Tadokoro**, and Toshi Takamori**
*Graduate School of Science and Technology, Kobe University, 1-1 Rokkodai, Nada, Kobe, 657-8501 Japan
**Faculty of Engineering, Kobe University, 1-1 Rokkodai, Nada, Kobe, 657-8501 Japan
In order to display delicate touch feeling of surface of some materials, active touch of human hand movements should be considered. In this paper, a wearable stimulation device which can produce various distributed stimuli on human skin in response to hand movements was developed using ICPF (Ionic Conducting Polymer gel Film) actuators. Characteristics of touch feeling of roughness were measured using vibratory stimulation. The results showed that the threshold amplitude under active touch were smaller than under passive touch. A stimulation method which generates selective stimuli to sense receptors in accordance with velocities and accelerations of hand motions was proposed. It was confirmed experimentally that some kinds of pattern of driving waves express touch feelings such as starting, stopping and sliding feel of hand motions.
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