eShiver: Force feedback on fingertips through oscillatory motion of an electroadhesive surface

We introduce a new haptic force feedback device - the eShiver - for creating lateral shear force on the bare fingertip. The eShiver uses in-plane oscillatory motion of a variable-friction electroadhesive surface operating at 55Hz. A set of experiments performed with an artificial finger is used to elucidate the performance characteristics of this device. A maximum net lateral force of ±300mN is achieved, and net force is shown to be a function of velocity, applied voltage, and the phase between them. We propose a simple lumped parameter model for the system consisting of a lateral impedance and a voltage controlled "friction switch." We also discuss the limitations and areas of possible improvement for this method of force generation.