Human shape recognition performance for 3D tactile display

The paper describes the relationship between the pin-matrix density of a tactile display and the recognition performance of displayed 3D shapes. Three types of pin-matrix tactile display, that generate 3D shapes, were used for the experiment. The pitch of pins was 2 mm, 3 mm, 5 mm each. We assumed that surfaces, edges, and vertices were primitive 3D shape information, so tested shapes were classified into these three categories. We assumed two types of finger touching mode: 1) fingertip-only, allowed full use of spatial shape information given to the fingertip; and 2) allowed tracing of the object. Recognition time and the classified error rate were measured. We obtained results on the relationship between pin pitch and recognition performance data. Regression curves for pin pitch and recognition time were plotted. A significance test of recognition time versus pin pitch was done. The error rate of identification versus pin pitch was described. Our results provide basic knowledge for developing tactile presentation devices.