TeslaMirror: Multistimulus Encounter-Type Haptic Display for Shape and Texture Rendering in VR

TL;DR

TeslaMirror introduces a non-wearable hybrid tactile display that provides real-time shape and texture feedback in VR using multistimulus sensations, enhancing immersive haptic experiences without wearable devices.

Contribution

The paper presents a novel multistimulus haptic display that delivers shape and texture feedback in VR without wearable devices, utilizing a digital twin of a robot for real-time control.

Findings

High-fidelity shape reproduction demonstrated in user study

Potential for versatile VR shape rendering confirmed

No wearable haptic devices needed for sensation delivery

Abstract

This paper proposes a novel concept of a hybrid tactile display with multistimulus feedback, allowing the real-time experience of the position, shape, and texture of the virtual object. The key technology of the TeslaMirror is that we can deliver the sensation of object parameters (pressure, vibration, and electrotactile feedback) without any wearable haptic devices. We developed the full digital twin of the 6 DOF UR robot in the virtual reality (VR) environment, allowing the adaptive surface simulation and control of the hybrid display in real-time. The preliminary user study was conducted to evaluate the ability of TeslaMirror to reproduce shape sensations with the under-actuated end-effector. The results revealed that potentially this approach can be used in the virtual systems for rendering versatile VR shapes with high fidelity haptic experience.