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Application of tangential skin displacement at the fingertip has been shown to be effective in communicating direction and has potential for several applications. We have developed a portable, fingertip-mounted tactile display capable of displacing and stretching the skin of the fingerpad, using a 7 mm hemispherical tactor. In vivo tests of fingerpad skin stiffness were performed to determine the forces required to effectively render stimuli. Other design parameters such as stimulus speed and displacement were derived from our earlier work. The tactile display is capable of rendering \pm 1 mm of displacement at arbitrary orientations within a plane and with rates of approximately 5 mm/s. Compliance and backlash in the device's drive train were characterized using external measurements, and were compensated for in software to reduce the impact on device hysteresis.
Haptic device design, haptic I/O, lateral skin stretch, tangential skin displacement, tactile display.

"Design of a Fingertip-Mounted Tactile Display with Tangential Skin Displacement Feedback," in IEEE Transactions on Haptics, vol. 3, no. , pp. 297-301, 2010.
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