Multi-digit Softness: Development of a Tactile Display to Render Softness Feeling on Multiple Fingers

  • Toshiki KitazawaEmail author
  • Fuminobu Kimura
  • Akio Yamamoto
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8619)


This paper describes a new tactile display that can present softness sensations to multiple phalanges on multiple fingers. Contact width control through sheet wrapping is adopted as a softness rendering method for each finger. Three separate mechanisms for contact width control for three fingers are integrated in one device. Passive mechanical linkages are employed to provide sensations to the whole fingers. The paper reports on the design of the developed device, as well as the result of psychophysical experiment that investigated the contributions of each phalange and finger in softness perception on this display.


Softness display Artificial softness Remote palpation Multi-digit 



This work was supported by Funding Program for Next Generation World-Leading Researchers (#LR013), Grant-in-Aid for Scientific Research (B) (No. 26280069), and Grant-in-Aid for JSPS fellows (24.8552) from JSPS, Japan.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Toshiki Kitazawa
    • 1
    Email author
  • Fuminobu Kimura
    • 1
  • Akio Yamamoto
    • 1
  1. 1.The University of TokyoBunkyo-kuJapan

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