Tactile Display using Thin Type Electrostatic Linear Actuator

Abstract

We have developed a new type of tactile display using electrostatic linear actuator. This device is a kind of force feedback system. The electrostatic linear actuator consists of a thin film slider and a stator, and works as direct drive. Therefore, this device can display fine textures, and a user can operate this device naturally. Since the position sensor is built in the actuator, the construction of this device is very compact and simple. In this paper, first, the construction of the electrostatic actuator and the system of the device using this actuator are described. Secondly, force control algorithm for the actuator to simulate surface bumps is provided. Different kinds of bumps, whose intervals range from 63μm to 1000μm, were successfully displayed using the algorithm. Finally, in comparative experiments, 5 rough surfaces, whose bump intervals range from 70μm to 1055μm, were simulated. Two kinds of discrimination test were done. In the case in which the displayed surface were real surfaces without seeing, the experimental subjects correctly discriminated 78% on the average. In the case in which the displayed surface were simulated surfaces, they correctly perceived 66% on the average.