Virtual roughness textures via a surface tactile texture display using vibrotactile and electrostatic friction stimuli: Improved realism

In this study, improved realism of virtual roughness textures is verified by using vibrotactile and electrostatic friction stimuli in conjunction. Because these two types of stimuli have complementary features, they are expected to enhance the perceived quality of stimuli. In our previous research, conjunct stimuli improved the realism of virtual surfaces with sinusoidal surface roughness profiles. In this research, we tested with complicated surface roughness, and experimental participants ranked vibrotactile, electrostatic friction, and conjunct conditions in terms of realism compared to actual roughness textures. The conjunct condition was judged to be more realistic for simple and complicated surface profiles consisting of one or two spatial wave components.