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A continuous stroking sensation on the skin can convey messages or emotioncues. We seek to induce this sensation using a combination of illusory motionand lateral stroking via a haptic device. Our system provides discrete lateralskin-slip on the forearm with rotating tactors, which independently providelateral skin-slip in a timed sequence. We vary the sensation by changing theangular velocity and delay between adjacent tactors, such that the apparentspeed of the perceived stroke ranges from 2.5 to 48.2 cm/s. We investigatedwhich actuation parameters create the most pleasant and continuous sensationsthrough a user study with 16 participants. On average, the sensations wererated by participants as both continuous and pleasant. The most continuous andpleasant sensations were created by apparent speeds of 7.7 and 5.1 cm/s,respectively. We also investigated the effect of spacing between contact pointson the pleasantness and continuity of the stroking sensation, and found thatthe users experience a pleasant and continuous linear sensation even when thespace between contact points is relatively large (40 mm). Understanding howsequential discrete lateral skin-slip creates continuous linear sensations caninfluence the design and control of future wearable haptic devices.

Understanding Continuous and Pleasant Linear Sensations on the Forearm from a Sequential Discrete Lateral Skin-Slip Haptic Device