Three-Axis Pneumatic Haptic Display for the Mechanical and Thermal Stimulation of a Human Finger Pad

Haptic displays have been developed to provide operators with rich tactile information using simple structures. In this study, a three-axis actuator capable of thermal display was deliver senses more realistically and intuitively. The proposed haptic uses pneumatic pressure shear normal through an inflation the balloons inherent in device. device provides lateral displacement ±1.5 mm for feedback vertical balloon up 3.7 feedback. It is designed operator attachment heater finger stage device, addition mechanical A custom-designed control module employed generate appropriate by computing signals from sensors or computers. This has manual gain function compensate force exerted on user’s fingers. Experimental results showed that it could improve positional accuracy linearity minimize hysteresis phenomena. temperature be controlled pulse-width modulation signal room 90 °C. Psychophysical experiments show cognitive affected gain, not significantly affected.