A High-Fidelity Surface-Haptic Device For Texture Rendering On Bare Finger

We present the design and evaluation of a high fidelity surfacehaptic device. The user slides a finger along a glass plate while friction is controlled via the amplitude modulation of ultrasonic vibrations of the plate. A non-contact finger position sensor and low latency rendering scheme allow for the reproduction of fine textures directly on the bare finger. The device can reproduce features as small as 25 mu m while maintaining an update rate of 5 kHz. Signal attenuation, inherent to resonant devices, is compensated with a feedforward filter, enabling an artifact-free rendering of virtual textures on a glass plate.