Softness presentation by combining electro-tactile stimulation and force feedback

To provide realistic tactile sensations in a virtual environment, it is necessary to stimulate both the cutaneous and proprioceptive senses. This study focuses on method of presenting softness through use electro-tactile stimulation. Our system combines force-feedback device with an electric stimulator create soft sensation by applying reaction force spreading based amount indentation. We measured change contact area gel samples used stimulation reproduce increase sample. conducted psychophysical experiment evaluate effectiveness combination confirmed that was enhanced simultaneous presentation.