Perceived Intensities of Normal and Shear Skin Stimuli Using a Wearable Haptic Bracelet

Our aim is to provide effective interaction with virtual objects, despite the lack of co-location and real-world contacts, while taking advantage relatively large skin area ease mounting on forearm. We performed two human participant studies determine effects haptic feedback in normal shear directions during manipulation using devices worn near wrist. In first study, participants significantly better discriminating stiffness values objects when consisted displacements compared displacements. Participants also commented that they could detect cues much easier than shear, which motivated us perform a second study find point subjective equality (PSE) between stimuli. results show stimuli require larger actuator displacement but less force achieve perceptual for our bracelets. found cannot be equalized through nor forces across all users. Rather, calibration method needed each user where create same intensity user's skin.