Enhancing The Simulation Of Boundaries By Coupling Tactile And Kinesthetic Feedback

Haptic enhanced boundaries are important for touch interaction. We quantify the amount of perceived force increment caused by adding variable friction tactile feedback to force feedback in simulating a boundary. We find that using a small lateral force feedback plus a tactile feedback can simulate a boundary which feels as stiff as that simulated by a large lateral force feedback. Moreover, the effect of the tactile feedback may be explained as a lateral force increment caused by increasing the friction coefficient of the touch surface.