Multi primitive tactile display based on suction pressure control

In this paper we propose a new method for displaying touch sensation by controlling suction pressure. We discovered a tactile illusion that pulling skin through a hole with suction pressure causes a feeling as if a stick is pushing the skin. This illusion is considered to be caused by the insensitivity of our mechanoreceptors to signs of stress (negative or positive) that are sensitive to the strain energy. Our tactile display is based on the key concept of this illusion and that of "multi-primitive stimulation." We show that a simple structure of a sparse stimulator array produces various tactile sensations from a sharp edge to a smooth plane surface.