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According to the previous psychophysical experimental results, since human beings feel different sensations for pressure and shearing vibration applied to their finger surface, a new tactile display array consisting of multi-axial micro actuators is required to enhance degree of tactile virtual reality. In the present paper, we experimentally design serial and parallel typed two-axial micro actuators, which are utilized for the key part of the tactile display. The serial typed two-axial actuator comprises bimorph actuators connected in series as shown in Fig. 1. Since x-directional actuator A attached to the basement is accepted a moment generated by wrench length of the y-directional actuator B and applied force, torsional rigidity of the actuator A is reinforced by two bimorph actuators. We formulate a series of equations for calculation of appropriate applied voltages to obtain specified xand y-directional displacements and forces. Experimental results are exemplified in Fig.2. The relationship between force and displacement is linear as shown in Fig. 2 and its inclination is estimated by formulated equations. However, the serial typed actuator has different characteristics on xand y-directional coordinates. On the other hand, the parallel typed two-axial actuator is composed of two bimorph piezoelectric actuators and two small links connected by three joints as shown in Fig. 3 to obtain homogeneous controlleribilty of two-dimensional displacement. We formulate kinematics for the parallel typed two-axial actuator because the endpoint is controlled in the two-dimensional coordinate. Experimental results are shown in Fig. 4. The parallel typed two-axial actuator has almost same characteristics on both xand y-coordinates, and has wide strokes of about 1mm. Solid line shows simulated trajectory calculated by the formulated kinematic equation. While the x-directional displacement is estimated well by the present kinematic equation, the y-directional experimental result is rather apart from the simulated result. This difference is improved by incorporating intrinsic hysteresis of piezoelectric actuator into the present equations. Considering these characteristics depended upon actuator type, we will design the tactile display combined the serial and parallel typed two-axial actuator. In the deisgn of tactile displays, the formulated equations are used to obtain desired performance.

An Experimental Two-Axial Actuator for a Tactile Display Capable of Presenting Pressure and Slippage Sensations