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Presentation of Surface Undulation to Hand by Several Discrete Stimuli

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Part of the Lecture Notes in Computer Science book series (LNISA,volume 8618)


Humans cannot perceive wide and small surface undulation, which is hundreds micrometers in height and hundreds millimeters in width, with their fingertips, whereas they can perceive it by scanning the surface with their whole fingers including the palm to the direction of a long side of the finger. We develop a haptic device that presents surface undulation to the hand, considering the mechanical interaction between the human’s hand and the surface undulation. It is composed of nine independent stimulator units that control heights of nine finger pads of the index finger, the middle finger, and the ring finger (3 on each finger) according to the virtual surface. Fundamental experiment of perceived surface estimation shows the availability of the haptic display.


  • Surface undulation
  • Haptic display
  • Whole finger
  • Wearable device

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  • DOI: 10.1007/978-3-662-44193-0_55
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Correspondence to Yoshihiro Tanaka .

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© 2014 Springer-Verlag Berlin Heidelberg

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Tanaka, Y., Goto, Y., Sano, A. (2014). Presentation of Surface Undulation to Hand by Several Discrete Stimuli. In: Auvray, M., Duriez, C. (eds) Haptics: Neuroscience, Devices, Modeling, and Applications. EuroHaptics 2014. Lecture Notes in Computer Science(), vol 8618. Springer, Berlin, Heidelberg.

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  • Print ISBN: 978-3-662-44192-3

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