Artificial tactile feel display using soft gel actuators

Masashi Konyo, Satoshi Tadokoro, Toshi Takamori, Keisuke Oguro

Research output: Contribution to journalConference articlepeer-review

99 Citations (Scopus)


It is difficult for the conventional tactile displays to express fine touch as a surface of cloth. A mechanical device appropriate for minute distributed stimuli on human skin does not exist. This paper proposes a ciliary device using soft high polymer gel actuators, ICPF, as a solution of this problem. This new device can generate various distributed stimuli to human sense receptors. It was experimentally confirmed that combinations of vibratory stimuli of high frequency and low frequency produced complex tactile feels. Comparison of the artificial tactile feels and cloth material samples demonstrated that this device developed could display subtle distinction in the touch of cloth.

Original languageEnglish
Pages (from-to)3416-3421
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 2000
EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
Duration: 2000 Apr 242000 Apr 28


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