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In this paper, a novel haptic device is proposed that gives weight and friction illusions. Sensing a slip condition at the fignertip plays an important role to estimate the weight and friction of an object. This fact suggests that controlling the contact condition could yield weight and friction illusions. Based on this idea, a prototype device was developed that controls the contact condition between a fingertip and a rigid plate based on a camera-based eccentricity control. The desired eccentricity profile is given from an analytical relationship among the amount of the slip, the deformation of the contact area, and the investigation of human's force control strategy. The performance of the developed device was evaluated through human experiments. The experimental results show statistically significant difference among presented weight and friction conditions.

Weight and Friction Display by Controlling Slip Condition at the Fingertip