HapCube: A Fingertip-Sized Tactile Device Providing 2+1 Dimensional Pseudo-Force Feedback

Abstract

In this research, we propose a fingertip-sized tactile device named HapCube, consisting of three orthogonal voice coil actuators. It provides tangential and normal pseudo-force feedback on a fingertip. The tangential feedback can be created in any desired tangential directions by combining two orthogonal asymmetric vibrations. The normal feedback can simulate various button feedbacks such as the representative four key switches (Black, Red, Blue, and Brown) of CHERRY keyboard company.