Tactile BrushDrawing on Skin with a Tactile Grid Display

Chichi 10/1 Paper reading

Ali IsrarHaptic Researcher and EngineerPurdue University ME PhD.

Surround Haptics

TeslaTouch

Aireal

What is Haptics

• Haptics is sensed all around the human body; beyond the head/face region of the human body.

• Decoding haptic experiences are complex and multivariate, due to wide variety of touch receptors and perception modalities.

• Haptics is personal, affective yet delicate and invasive.

• Sensory illusions in haptics are robust and can be programmed.

Ivan PoupyrevMaster

“My job is to come up with new ideas, concepts and research directions. Some of these ideas have become real products, others inspired new research directions, while many others simply satisfy my curiosity.” --- Ivan Poupyrev

Ivan PoupyrevMaster

Tactile Brush

Paper Structure• Abstract• Introduction• Background and Related Work• Tactile Illusion as Design Tool

– Apparent Motion– Phantom Sensation

• Tactile Brush– Controlling Apparent Motion– Controlling Phantom Sensation– Tactile Brush Algorithm

• Evaluation• Applications • Conclusion

Abstract

Tactile Brush is an algorithm that produces smooth, two-dimensional tactile moving strokes with varyingfrequency, intensity, velocity and direction of motion.

The design of the algorithm is derived from the results of psychophysical investigations of two tactile illusions – apparent tactile motion and phantom sensations.

Introduction

Research in developing tactile displays can be separated into two broad categories:

• Design of actuation technologies and control techniques needed to produce a microstructure of tactile sensations

• Construction of high-order tactile percepts to communicate complex meanings, expressions and experiences.

Tactile Brush, a control algorithm that uses a low-resolution grid of vibrating actuators to producehigh-resolution tactile strokes on skin.

The basic idea:• utilize the apparent motion illusion to create tactile

motion sensation between vibrating actuators• use phantom illusion to create virtual actuators

where no physical actuator is present.

The basic idea:• utilize the apparent motion illusion to create tactile

motion sensation between vibrating actuators• use phantom illusion to create virtual actuators

where no physical actuator is present.

Background and Related Work

Tactile Illusions as Design Tool

Tactile Brush

Two parameters

• SOA vs duration (d) for a.

• Actuator intensitiesfor b.

Principles, definitions and challenge

• Define a moving tactile stroke as a sensation that:– Continuous motion– A clear start and end– Perceived as a single semantic unit– Can move with varying velocity

Principles, definitions and challenge

Tactile Apparatus

Controlling Apparent Motion

Controlling Apparent Motion

Controlling Apparent Motion

• SOA = 0.32d + 47.3

Controlling Phantom Actuators

Controlling Phantom Actuators

• Beta = a/b

Tactile Brush Algorithm

Tactile Brush Algorithm• Virtual Actuation Points• Speed of Stroke and Timestamps• Duration and SOA

Evaluation

Evaluation

Application

Conclusion

The Tactile Brush algorithm provides a solution for creating two-dimensional, high-resolution, continuous moving sensations on the surface of the skin. Using Tactile Brush and a few off-the-shelf tactile actuators researchers and interfaces designers can begin creating complex and rich multidimensional tactile experiences.

Q & A