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Humans feel various tactile sensations by touching and rubbing an object lightly. In this article, we propose a method of displaying such tactile feeling realistically. We produce the feeling by selective stimulation of mechanoreceptors located at different depths in the skin, using the skin's elastic transfer property. Our system is a sparse array of stimulators, each of which controls both partial pressure and overall contact pressure on the skin to selectively stimulate the shallow and the deep mechanoreceptors. The principle of selective stimulation is described. We experimentally confirmed it could realistically display finer virtual texture than due to the stimulator spacing.
Virtual reality, Haptic interface, Tactile feeling display, Tactile texture.

H. Shinoda, N. Asamura and N. Yokoyama, "Selectively Stimulating Skin Receptors for Tactile Display," in IEEE Computer Graphics and Applications, vol. 18, no. , pp. 32-37, 1998.
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