A Wearable Haptic Display to Present the Gravity Sensation - Preliminary Observations and Device Design.
DOI: 10.1109/WHC.2007.15 Conference: Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC 2007), 22-24 March 2007, Tsukuba, Japan
We propose a wearable ungrounded haptic display that presents a realistic gravity sensation of a virtual object. We focused on the shearing stress on the fingerpads due to the weight of the object, and found that the deformation of the fingerpads can generate a reliable gravity sensation even when proprioceptive sensation on the wrist or arm is absent. This implies that an ungrounded gravity display can be realized by reproducing fingerpad deformation. Based on our observations, we conducted evaluation tests for the device design. We first implemented the prototype device, which has a simple structure comprising dual motors, and then evaluated the recognition ability of the gravity sensation presented on the operator's finger by this method.
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