A Social Haptic Device to Create Continuous Lateral Motion Using Sequential Normal Indentation

IEEE Haptics Symposium (HAPTICS)


Touch is an essential method for communicating emotions between individuals. Humans use a variety of different gestures to convey these emotions, including squeezes, pats, and strokes. This paper presents a device for creating a continuous lateral motion on the arm to mimic a subset of the gestures used in social touch. The device is composed of a linear array of voice coil actuators that is embedded in a fabric sleeve. The voice coils are controlled to sequentially press into the user’s arm to create the sensation of linear travel up the arm. We evaluate the device in a human-subject study to confirm that a linear lateral motion can be created using only normal force, and to determine the optimal actuation parameters for creating a continuous and pleasant sensation. The results of the study indicated that the voice coils should be controlled with a long duration for each indentation and a short delay between the onset of indentation between adjacent actuators to maximize both continuity and pleasantness.

Latest Publications

Log-structured Protocols in Delos

Mahesh Balakrishnan, Mihir Dharamshi, David Geraghty, Santosh Ghosh, Filip Gruszczynski, Jun Li, Jingming Liu, Suyog Mapara, Rajeev Nagar, Ivailo Nedelchev, Francois Richard, Chen Shen, Yee Jiun Song, Rounak Tibrewal, Vidhya Venkat, Ahmed Yossef, Ali Zaveri