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This paper discusses a force sensing method using a built-in position sensing system for an electrostatic visuo-haptic display. The display provides passive haptic feedback on a flat panel visual monitor, such as LCD, using electrostatic friction modulation via multiple contact pads arranged on a surface-insulated transparent electrode. The display demonstrated in previous studies measured the positions of the pads in a similar manner to surface-capacitive touch-screens. This paper extends the sensor such that the system can monitor the electrostatic interaction force provided to the contact pads. The extension is realized by estimating the capacitance between the contact pads and the display surface. The paper investigates its basic characteristics to show that the force estimation is possible, regardless of the pad positions and the pushing force exerted by users. The force estimation capability is used for feedback control of interaction force, which improves the accuracy of the interaction force. The paper further extends the method such that the system can detect the moving direction of contact pads. By dividing the electrode of a contact pad and comparing their capacitances, the system can detect in which direction the user is trying to move the pad. Such capability is effective for solving the sticky-wall problem, which is known to be a common problem in passive haptic systems. A pilot experiment shows that the proposed system can considerably reduce the sticky-wall effect.

Interaction force estimation on a built-in position sensor for an electrostatic visuo-haptic display