Design and implementation of a finger haptic device for large-scale force-tactile hybrid haptic rendering

In this paper, a finger haptic device for large-scale force-tactile hybrid haptice rending is presented. The proposed device combines the high-frequency vibration effect of squeezing air film with one degree-of-freedom force reproduction and force servo technology to realize the reproduction of variable friction slip feeling and dynamic texture feeling. As experimental validation, a simulation platform which aims at studying virtual force-tactile interactions is built and the experimental results demonstrate the feasibility and practical applicability of our design.