Haptic interfaces: the study of force and tactile feedback systems

The analysis of the behaviour of the human operator during the interaction with virtual environments requires the availability of adequate interface systems. In particular, when the control of manipulative and explorative procedures is required, all the movements of the hand should be recorded and tactile as well as contact force stimuli should be replicated at the level of the hand. We address the aspects related to the development of force and tactile feedback systems devoted to generate such stimuli with the aim of allowing the human operator to obtain a realistic control of the operation. The peculiar roles of force and tactile feedback systems are presented with direct reference to the grasping and explorative tasks. The general performances of a force feedback system are highlighted together with the description of the Hand Force Feedback system developed at the Scuola Superiore Sante Anna. Tactile feedback is presented by considering the modelling of both thermal and indentation stimuli.