Biomechanically Optimized Distributed Tactile Transducer Based on Lateral Skin Deformation

This paper presents a tactile transducer device that is optimized from biomechanical data and has a compact, yet modular design. The tactile transducer comprises a 6 × 10 piezo bimorph actuator array with a spatial resolution of 1.8 × 1.2 millimeters and a wide temporal bandwidth. The actuator mounting method was improved from a conventional cantilever method to a dual-pinned method, giving the actuator the capability of maximally deforming glabrous skin for laterotactile stimulation. The results were validated using a psychophysical method. The tactile display device is modular, appeals to ordinary fabrication methods, and can be assembled and dismantled in a short time for debugging and maintenance. It weighs 60 g, it is self-contained in a 150 cm volume and may be interfaced to most computers, provided that two analog outputs and six digital io lines are available. Psychophysical experiments were carried out to assess its effectiveness in rendering virtual tactile features.