TY - CHAP T1 - A Fabric-based Approach for Softness Rendering T2 - Multisensory Softness: Perceived Compliance from Multiple Sources of Information Y1 - 2014 A1 - M. Bianchi A1 - A. Serio A1 - E. P. Scilingo A1 - A. Bicchi KW - Haptics KW - Robotics AB -

In this chapter we describe a softness display based on the contact area spread rate (CASR) paradigm. This device uses a stretchable fabric as a substrate that can be touched by users, while contact area is directly measured via an optical system. By varying the stretching state of the fabric, different stiffness values can be conveyed to users. We describe a first technological implementation of the display and compare its performance in rendering various levels of stiffness with the one exhibited by a pneumatic CASR-based device. Psychophysical experiments are reported and discussed. Afterwards, we present a new technological implementation for the fabric-based display, with reduced dimensions and faster actuation, which enables rapid changes in the fabric stretching state. These changes are mandatory to properly track typical force/area curves of real materials. System performance in mimicking force-area curves obtained from real objects exhibits a high degree of reliability, also in eliciting overall discriminable levels of softness.

JF - Multisensory Softness: Perceived Compliance from Multiple Sources of Information PB - Springer-Verlag VL - Springer Series on Touch and Haptic Systems UR - http://link.springer.com/chapter/10.1007%2F978-1-4471-6533-0_11 ER -