eShiver: Lateral Force Feedback on Fingertips through Oscillatory Motion of an Electroadhesive Surface.

We describe a new haptic force feedback device capable of creating lateral shear force on a bare fingertip—the eShiver. The eShiver creates a net lateral force from in-plane oscillatory motion of a surface synchronized with a “friction switch” based on Johnsen-Rahbek electroadhesion. Using an artificial finger, a maximum net lateral force of $\pm$ 300 mN is achieved at 55 Hz lateral oscillation fr...