FrictionHaptics : Encountered-Type Haptic Device forTangential Friction Emulation

Abstract

We present FrictionHaptics which is an encountered-type haptic device that emulates friction when a user touches a virtual object by using a rotating sphere as an end effector to a 3DOF robot arm. Our proposed device has two advantages. Firstly, the device creates a tangential friction sensation of a virtual object, even the size of the real object is limited. Secondly, compared to wearable-type or grip-type, our device does not limit the sensing part of a human. We conducted a perceptual experiment to determine how a human perceives friction generated from our proposed device. As a result, we found that our device renders a reliable illusion of tangential friction even the human perceive it using different sensing part.