Modal Superimposition for Multi-fingers Variable Friction Tactile Device

  • Sofiane GhennaEmail author
  • Christophe Giraud-Audine
  • Frederic Giraud
  • Michel Amberg
  • Betty Lemaire-Semail
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9774)


In this study, we develop and implement a method for superimposing two vibration modes in order to produce different tactile stimuli on two fingers located in different positions. The tactile stimulation is based on the squeeze film effect which decreases the friction between a fingertip and a vibrating plate.

Experimental test have been conducted on a 1D tactile device. They show that it is possible to continuously control the friction on two fingers moving independently. Then, we developed the design of a 2D device based on the same principle, which gives rise to the design of a two-fingers tactile display. Evaluations were conducted using a modal analysis with experimental validation.


Ultrasonic Vibration modes Tactile stimulation Multi-touch 



This work has been carried out within the framework of the project StimTac of IRCICA (institut de recherche sur les composants logiciels et matériels pour la communication avancée), and the Mint project of Inria.


  1. 1.
    Adams, M.J., Johnson, S.A., Lefèvre, P., Lévesque, V., Hayward, V., André, T., Thonnard, J.L.: Finger pad friction and its role in grip and touch. J. R. Soc. Interface 10(80) (2012)Google Scholar
  2. 2.
    Bau, O., Poupyrev, I., Israr, A., Harrison, C.: Teslatouch: electrovibration for touch surfaces. In: Proceedings of the 23rd Annual ACM Symposium on User Interface Software and Technology, UIST 2010, pp. 283–292 (2010)Google Scholar
  3. 3.
    Chubb, E., Colgate, J., Peshkin, M.: Shiverpad: a glass haptic surface that produces shear force on a bare finger. IEEE Trans. Haptics 3(3), 189–198 (2010)CrossRefGoogle Scholar
  4. 4.
    Ghenna, S., Giraud, F., Giraud-Audine, C., Amberg, M., Lemaire-Semail, B.: Preliminary design of a multi-touch ultrasonic tactile stimulator. In: 2015 IEEE World Haptics Conference (WHC), pp. 31–36, June 2015Google Scholar
  5. 5.
    Giraud, F., Amberg, M., Lemaire-Semail, B., Casiez, G.: Design of a transparent tactile stimulator. In: 2012 IEEE Haptics Symposium (HAPTICS), pp. 485–489, March 2012Google Scholar
  6. 6.
    Giraud, F., Giraud-Audine, C., Amberg, M., Lemaire-Semail, B.: Vector control method applied to a traveling wave in a finite beam. IEEE Trans. Ultrason. Ferroelectr. Freq. Control 61(1), 147–158 (2014)CrossRefGoogle Scholar
  7. 7.
    Graff, K.F.: Wave Motion in Elastic Solids. Dover Publications, Mineola (1991)zbMATHGoogle Scholar
  8. 8.
    Nadal, C., Giraud-Audine, C., Giraud, F., Amberg, M., Lemaire-Semail, B.: Modelling of a beam excited by piezoelectric actuators in view of tactile applications. In: Mathematics and Computers in Simulation (2015)Google Scholar
  9. 9.
    Son, K.J., Kim, K.: The use of degenerate mode shapes in piezoelectric variable-friction tactile displays(the 12th international conference on motion and vibration control). Dynamics and Design Conference 2014(12), pp. 1–7, August 2014Google Scholar
  10. 10.
    Vezzoli, E., Ben Messaoud, W., Amberg, M., Giraud, F., Lemaire-Semail, B., Bueno, M.A.: Physical and perceptual independence of ultrasonic vibration and electrovibration for friction modulation. IEEE Trans. Haptics 8(2), 235–239 (2015)CrossRefGoogle Scholar
  11. 11.
    Wiertlewski, M., Colgate, J.E.: Power optimization of ultrasonic friction-modulation tactile interfaces. Trans. Haptics 8(1), 43–53 (2014)CrossRefGoogle Scholar

Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Sofiane Ghenna
    • 1
    Email author
  • Christophe Giraud-Audine
    • 1
  • Frederic Giraud
    • 1
  • Michel Amberg
    • 1
  • Betty Lemaire-Semail
    • 1
  1. 1.Univ. Lille, Centrale Lille, Arts et Metiers ParisTech, HEI, HeSam, EA 2697 - L2EP - Laboratoire DElectrotechnique Et DElectronique de PuissanceLilleFrance

Personalised recommendations