Development of Integrated Visual Haptic Display Using Translucent Flexible Sheet

We propose an integrated visual haptic display using translucent flexible sheet such as rubber to enable users to feel that they are seeing and pushing virtual soft objects directly. The display varies sheet compliance in the normal direction by changing bias tension applied to the sheet: tightly stretched sheet feels hard, and loose sheet feels soft. Hence a user can feel compliance of various virtual objects when pushing the sheet. This sheet is also used as a rear projection screen. When the user pushes the sheet with a finger, the position and deformation of the pushed point are measured by stereovision. Deformation of the virtual object is calculated by FEM, and the graphic image of the deformed object is generated. An LCD projector projects the image on the sheet from the back. As a result, the user sees the finger pushing the object image. A display using urethane rubber sheet is developed: it applies bias tension to the sheet by pulling 4 corners with 4 motors. Experiments confirm the developed display generates variable compliance and simulates compliance of a real soft object. Subjects feel that they are seeing and pushing a virtual soft object directly.