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Electrotactile displays can open a new sensory substitution channel to be utilized in a vast array of applications. Our Finger-Eye research used this approach to build a system for the blind to easily read any text not written in Braille. But there are still challenges in different aspects of such systems. One of the most crucial concerns, is the effects of receptor fatigue. Our tests show that during prolonged exposure of receptors to the electrical signals, their sensitivity to the signal level changes gradually and adjustments in the signal's power are required to keep the receptors is the stimulated state. This was confirmed by monitoring the electrical current passing through the skin and calculating the corresponding impedance. More interestingly, the rates of the impedance changes are different for each part of the skin, indicating inconsistent rates of receptor fatigue for each region of the skin. These electrical properties of the skin were addressed in this research for the purpose of rendering consistent sensations for the users regardless of the person or skin conditions. To solve these challenges, two methods are employed: a voltage control system based on pulse-width modulation is used to adjust the signal power; and Kalman filtering is used to predict impedance changes in advance and supply the skin with the proper signal. The result is a self-contained automated system capable of managing the signal power for any user at any given time or skin condition.

Non-Linearity of Skin Properties in Electrotactile Applications: Identification and Mitigation