Voltage-Induced Friction with Application to Electrovibration

Due to the growing interest in robotic and haptic applications, voltage-induced friction has rapidly gained in importance in recent years. However, despite extensive experimental investigations, the underlying principles are still not sufficiently understood, which complicates reliable modeling. We present a macroscopic model for solving electroadhesive frictional contacts which exploits the close analogy to classical adhesion theories, like Johnson-Kendall-Roberts (JKR) and Maugis, valid for electrically neutral bodies. For this purpose, we recalculate the adhesion force per unit area and the relative surface energy from electrostatics. Under the assumption of Coulomb friction in the contact interface, a closed form equation for the friction force is derived. As an application, we consider the frictional contact between the fingertip and touchscreen under electrovibration in more detail. The results obtained with the new model agree well with available experimental data of the recent literature. The strengths and limitations of the model are clearly discussed.TU Berlin, Open-Access-Mittel – 201

Electrostatic Friction Displays to Enhance Touchscreen Experience

Touchscreens are versatile devices that can display visual content and receive touch input, but they lack the ability to provide programmable tactile feedback. This limitation has been addressed by a few approaches generally called surface haptics technology. This technology modulates the friction between a user’s fingertip and a touchscreen surface to create different tactile sensations when the finger explores the touchscreen. This functionality enables the user to see and feel digital content simultaneously, leading to improved usability and user experiences. One major approach in surface haptics relies on the electrostatic force induced between the finger and an insulating surface on the touchscreen by supplying high AC voltage. The use of AC also induces a vibrational sensation called electrovibration to the user. Electrostatic friction displays require only electrical components and provide uniform friction over the screen. This tactile feedback technology not only allows easy and lightweight integration into touchscreen devices but also provides dynamic, rich, and satisfactory user interfaces. In this chapter, we review the fundamental operation of the electrovibration technology as well as applications have been built upon

Multi-physics modelling and experimental validation of electrovibration based haptic devices

Electrovibration tactile displays exploit the polarisation of the finger pad, caused by an insulated high voltage supplied plate. This results in electrostatic attraction, which can be used to modulate the users' perception of an essentially flat surface and induce texture sensation. Two analytical models of electrovibration, based on parallel plate capacitor assumption, are demonstrably taken and assessed by comparisons with experimental results published in literature. In addition, an experimental setup was developed to measure the electrostatic force between the finger pad and a high voltage supplied plate in a static and out-of-contact state in order to support the use of parallel plate capacitor model. Development, validation, and application of a computational framework for modelling tactile scenarios on real and virtual surfaces rendered by electrovibration technique is presented. The framework incorporates fully parametric model in terms of materials and geometry of the finger pad, virtual and real surfaces, and can serve as a tool for virtual prototyping and haptic rendering in electrovibration tactile displays. This is achieved by controlling the applied voltage signal in order to guarantee similar lateral force cues in real and simulated surfaces

Preliminary design of a multi-touch ultrasonic tactile stimulator

This paper presents a method to control ultrasonic waves on a beam, allowing to obtain a Multi-touch ultrasonic tactile stimulation in two points, to give the sensation to two fingers, from two piezoelectric transducers. The multi-modal approach and the vector control method are used to regulate the vibration amplitude, in order to modulate the friction coefficient with the fingers. An analytical modelling is presented, with experimental validation. Finally a psychophysical experiment shows that a multi-touch ultrasonic tactile stimulation is possible.This work has been carried out within the framework of the project StimTac of IRCICA (institut de recherche sur les composants logiciels et matériel pour la communication avancée), and the Project Mint of Inria

Modern Applications of Electrostatics and Dielectrics

Electrostatics and dielectric materials have important applications in modern society. As such, they require improved characteristics. More and more equipment needs to operate at high frequency, high voltage, high temperature, and other harsh conditions. This book presents an overview of modern applications of electrostatics and dielectrics as well as research progress in the field

Contact geometry and mechanics predict friction forces during tactile surface exploration

International audienceWhen we touch an object, complex frictional forces are produced, aiding us in perceiving surface features that help to identify the object at hand, and also facilitating grasping and manipulation. However, even during controlled tactile exploration, sliding friction forces fluctuate greatly, and it is unclear how they relate to the surface topography or mechanics of contact with the finger. We investigated the sliding contact between the finger and different relief surfaces, using high-speed video and force measurements. Informed by these experiments, we developed a friction force model that accounts for surface shape and contact mechanical effects, and is able to predict sliding friction forces for different surfaces and exploration speeds. We also observed that local regions of disconnection between the finger and surface develop near high relief features, due to the stiffness of the finger tissues. Every tested surface had regions that were never contacted by the finger; we refer to these as " tactile blind spots ". The results elucidate friction force production during tactile exploration, may aid efforts to connect sensory and motor function of the hand to properties of touched objects, and provide crucial knowledge to inform the rendering of realistic experiences of touch contact in virtual reality

Neural Activations Associated With Friction Stimulation on Touch-Screen Devices

Tactile sensation largely influences human perception, for instance when using a mobile device or a touch screen. Active touch, which involves tactile and proprioceptive sensing under the control of movement, is the dominant tactile exploration mechanism compared to passive touch (being touched). This paper investigates the role of friction stimulation objectively and quantitatively in active touch tasks, in a real human-computer interaction on a touch-screen device. In this study, 24 participants completed an active touch task involved stroking the virtual strings of a guitar on a touch-screen device while recording the electroencephalography (EEG) signal. Statistically significant differences in beta and gamma oscillations in the middle frontal and parietal areas at the late period of the active touch task are found. Furthermore, stronger beta event-related desynchronization (ERD) and rebound in the presence of friction stimulation in the contralateral parietal area are observed. However, in the ipsilateral parietal area, there is a difference in beta oscillation only at the late period of the motor task. As for implicit emotion communication, a significant increase in emotional responses for valence, arousal, dominance, and satisfaction is observed when the friction stimulation is applied. It is argued that the friction stimulation felt by the participants' fingertip in a touch-screen device further induces cognitive processing compared to the case when no friction stimulation is applied. This study provides objective and quantitative evidence that friction stimulation is able to affect the bottom-up sensation and cognitive processing

Electromagnetic Position Sensing and Force Feedback for a Magnetic Stylus with an Interactive Display

This letter describes the design, implementation, validation, and demonstration of an electromagnetic system that can be incorporated into a graphical display to provide computer-controlled planar feedback forces on the tip of a stylus or fingertip-mounted magnet held near the display surface, according to the magnet position and virtual fixtures implemented in software. An array of magnetometer sensors is used to detect the position of the magnet, while a pair of box-shaped coils behind the display produces feedback forces on the stylus parallel to the plane of the display. Electromagnetic analysis for the system design is presented and system implementation is described. Validation results are given for force generation within a 100 mm × 100 mm area and force interaction with a virtual obstacle is demonstrated

Tactile Roughness Perception of Virtual Gratings by Electrovibration

Realistic display of tactile textures on touch screens is a big step forward for haptic technology to reach a wide range of consumers utilizing electronic devices on a daily basis. Since the texture topography cannot be rendered explicitly by electrovibration on touch screens, it is important to understand how we perceive the virtual textures displayed by friction modulation via electrovibration. We investigated the roughness perception of real gratings made of plexiglass and virtual gratings displayed by electrovibration through a touch screen for comparison. In particular, we conducted two psychophysical experiments with 10 participants to investigate the effect of spatial period and the normal force applied by finger on roughness perception of real and virtual gratings in macro size. We also recorded the contact forces acting on the participants' finger during the experiments. The results showed that the roughness perception of real and virtual gratings are different. We argue that this difference can be explained by the amount of fingerpad penetration into the gratings. For real gratings, penetration increased tangential forces acting on the finger, whereas for virtual ones where skin penetration is absent, tangential forces decreased with spatial period. Supporting our claim, we also found that increasing normal force increases the perceived roughness of real gratings while it causes an opposite effect for the virtual gratings. These results are consistent with the tangential force profiles recorded for both real and virtual gratings. In particular, the rate of change in tangential force ($dF_t/dt$) as a function of spatial period and normal force followed trends similar to those obtained for the roughness estimates of real and virtual gratings, suggesting that it is a better indicator of the perceived roughness than the tangential force magnitude.Comment: Manuscript received June 25, 2019; revised November 15, 2019; accepted December 11, 201