Cross-field haptics: Multiple direction haptics combined with magnetic and electrostatic fields

We present a new method of rendering haptic textures that utilizes electrostatic and magnetic fields. In conventional research, a single physical quantity is used to render haptic textures. By contrast, our method combines multiple fields (electrostatic and magnetic). Although these fields have no direct interference, combining them provides benefits such as the ability to produce multi-resolution haptic images and synergistic effects on haptic perception. We investigate the increase in the variation of texture by comparing each single field method. Furthermore, we conduct user experiments and quantitative measurements.