Development of Haptic Device Using Flexible Sheet

A new haptic device using flexible sheet such as rubber is proposed. Controlling the bias tension of the sheet, the device varies compliance of the sheet in the normal direction; users can feel compliance of various virtual objects if they touch the sheet. The device is suitable for displaying soft objects. A prototype device using a square rubber sheet is developed. This device controls the bias tension of the sheet by pulling its four corners with four motors. The normal force applied to the center of the sheet and the normal displacement at this point are measured. The results show that the developed device can generate different compliance by changing the bias tension and that it can vary the compliance in response to 5 [Hz] sinusoidal change of the bias tension. The compliance of the human palm is measured and simulated by the device.