Requirements for a tactile display of softness

Developing tactile displays is an important aspect of improving the realism of feeling softness in laparoscopic surgery. One of the major challenges of designing a tactile display is to understand how the perception of touch can be perceived with differences in material properties. This project seeks to address this limitation by investigating how the interaction of material properties affects perception of softness and to present the perception of softness through a tactile display. The first aim explores how the interaction of material properties affects perception of softness through the use of two psychophysical experiments. Experiments used a set of nine stimuli representing three materials of different compliance, with three different patterns of surface roughness or with three different coatings of stickiness. The results indicated that compliance affected perception of softness when pressing the finger, but not when sliding; and that compliance, friction and thermal conductivity all influenced the perception of softness. To achieve the second aim of reproducing various levels of softnesses, the tactile display was built at the University of Leeds. The displayed softness was controlled by changing the contact area and tension of a flexible sheet. Psychophysical experiments were conducted to evaluate how well humans perceive softness through the display. The data was analysed using MatLab to plot psychometric functions. The results indicated that the tactile display might be good for some applications which need to compare between simulated softnesses, but it might be insufficient for other applications which need to compare between simulated softness and real samples