See-through Sheet Visual Display for Haptic Device Using Flexible Sheet

A haptic device using flexible sheet such as rubber has already been proposed. Controlling the bias tension of the sheet, the device varies compliance of the sheet in the normal direction; users can feel compliance of various virtual objects if they touch the sheet. This device is integrated into a visual and haptic display. The haptic device uses transparent flexible sheet, and a liquid crystal display is placed under the sheet. If users touch the sheet, they feel compliance of virtual objects while seeing both their own hands directly and the image of the deformed objects through the sheet. In the present paper, this see-through sheet visual display is developed and evaluated