Softness-Hardness and Stickiness Feedback Using Electrical Stimulation While Touching a Virtual Object

With the advantages of small size and light weight, electrical stimulation devices have been investigated for providing haptic feedback in relation to virtual objects. Electrical stimulation devices can directly activate sensory receptors to produce reaction force or touch sensations. In the current study, we tested a new method for inducing electrical force sensation in the fingertip, presenting haptic feedback designed to alter softness, hardness and stickiness perception. We developed a 3D virtual reality system combined with finger-motion capture and electrical stimulation devices. The system can provide visual feedback and the sensation of illusory force that moved the index finger by forward-flexion or backward-extension using tendon or cathodic stimulation. In the demo, participants can experience the sensation of softness, hardness and stickiness of a virtual object.