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We present HapTable; a multimodal interactive tabletop that allows users tointeract with digital images and objects through natural touch gestures, andreceive visual and haptic feedback accordingly. In our system, hand pose isregistered by an infrared camera and hand gestures are classified using aSupport Vector Machine (SVM) classifier. To display a rich set of hapticeffects for both static and dynamic gestures, we integrated electromechanicaland electrostatic actuation techniques effectively on tabletop surface ofHapTable, which is a surface capacitive touch screen. We attached four piezopatches to the edges of tabletop to display vibrotactile feedback for staticgestures. For this purpose, the vibration response of the tabletop, in the formof frequency response functions (FRFs), was obtained by a laser Dopplervibrometer for 84 grid points on its surface. Using these FRFs, it is possibleto display localized vibrotactile feedback on the surface for static gestures.For dynamic gestures, we utilize the electrostatic actuation technique tomodulate the frictional forces between finger skin and tabletop surface byapplying voltage to its conductive layer. Here, we present two examples of suchapplications, one for static and one for dynamic gestures, along with detaileduser studies. In the first one, user detects the direction of a virtual flow,such as that of wind or water, by putting their hand on the tabletop surfaceand feeling a vibrotactile stimulus traveling underneath it. In the secondexample, user rotates a virtual knob on the tabletop surface to select an itemfrom a menu while feeling the knob's detents and resistance to rotation in theform of frictional haptic feedback.

HapTable: An Interactive Tabletop Providing Online Haptic Feedback for Touch Gestures