Three-axis pneumatic tactile display with integrated capacitive sensors for feedback control |
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Authors: | Seokpyo Yun Jihyung Yoo Soochul Lim Joonah Park Hyung-Kew Lee Kwang-Seok Yun |
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Affiliation: | 1. Department of Electronic Engineering, Sogang University, 35 Baekbeom-ro, Mapo-gu, Seoul, 121-742, Korea 2. Samsung Advanced Institute of Technology, San 14, Nongseo-dong, Giheung-gu, Yongin-si, Gyunggi-do, 446-712, Korea 3. Center for Electricity and Magnetism, Korea Research Institute of Standards and Science, 267 Gajeongro, Yuseong-gu, Daejeon, 305-340, Korea
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Abstract: | In this paper, we propose a three-axis pneumatic tactile display that is precisely controlled by using integrated capacitive displacement sensors. The proposed tactile display consists of a core body with a 3 × 3 balloon array on its top surface, four lateral balloons made of latex rubber, and inner and outer frames that include capacitive displacement sensors based on a flexible printed circuit board. The 3 × 3 balloon array on the core body is designed to apply normal haptic stimulation to a human fingertip. In addition, the lateral motions of the core body and each frame produce haptic stimulation in a tangential direction. Precise control of lateral motion was achieved by feedback control using the capacitive displacement sensors. The size of the fabricated tactile display was 26 × 26 × 18 mm3. We experimentally performed manipulation of the proposed device with a custom control system, thereby demonstrating accurate control of displacement. |
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