Transmission of Haptic Experience by a Bracelet-type Tactile Device to Reproduce Vibration Distribution

Recently, the demand for technology to remotely transmit haptic experiences related to skills has been increasing. This study attempts to convey a haptic experience with tactile sensation by reproducing the spatial patterns of vibrations generated at the wrist using a bracelet device with multiple sensors and vibrators. This paper investigates the human discrimination capability of haptic experiences during different whisking motions by comparing the bracelet device with a conventional tool-mounted device. We also investigate the effect of the ISM method, which can modulate the waveform to lower frequencies while maintaining the original sensation. The results indicated that reproduction of spatial distribution by bracelet device improves discrimination of differences in the rotation direction, and ISM further improves the discrimination of directional rotation compared to the raw signals.