A Stretchable Electrostatic Tactile Surface

TL;DR

This paper introduces a novel stretchable electrostatic tactile surface designed for wearable applications, capable of responding to joint movements and deformations with measurable tactile feedback.

Contribution

It presents the first stretchable electrostatic tactile device with a stretchability of up to 50%, enabling tactile sensation during joint movements and deformation.

Findings

The device can be stretched up to 50% without losing functionality.

Lower voltage thresholds for perception were identified.

A model relating voltage to perceived tactile intensity was developed.

Abstract

Tactile sensation is essential for humans to recognize objects. Various devices have been developed in the past for tactile presentation by electrostatic force, which are easy to configure devices, but there is currently no such device that features stretchability. Considering that the device is worn over the joints of a human body or robot, it is extremely important that the device itself be stretchable. In this study, we propose a stretchable electrostatic tactile surface comprising a stretchable transparent electrode and a stretchable insulating film that can be stretched to a maximum of 50%. This means that when attached to the human body, this surface can respond to the expansion and contraction that occur due to joint movements. This surface can also provide tactile information in response to deformation such as pushing and pulling. As a basic investigation, we measured the lower limit of voltage that can be perceived by changing the configuration of the surface and evaluated the states of stretching and contraction. We also investigated and modeled the relationship between the voltage and the perceived intensity.