Softness represents one of the most informative
haptic properties, which plays a fundamental role in both
everyday tasks and more complex procedures. Thus, it is not
surprising that much effort has been devoted to designing haptic
systems able to suitably reproduce this information. At the
same time, wearability has gained an increasing importance as
a novel paradigm to enable a more effective and naturalistic
human robot interaction. Capitalizing upon our previous works
on grounded softness devices, in this paper we present the
Wearable Fabric Yielding Display (W-FYD), a fabric-based
tactile display for multi-cue delivery that can be worn by
user’s finger. W-FYD enables to implement both passive and
active tactile exploration. Different levels of stiffness can be
reproduced by modulating the stretching state of a fabric
through two DC motors. An additional vertical degree of
freedom is implemented through a lifting mechanism, which
enables to convey softness stimuli to the user’s finger pad.
Furthermore, a sliding effect on the finger can be also induced.
Experiments with humans show the effectiveness of W-FYD for
haptic multi-cue delivery.