Dual Vibration Friction

Sliding on the contact surface of the fingertip and the object sometimes becomes a periodic behavior called a Stick-Slip phenomenon that repeats Stick and Slip. By generating Stick-Slip vibration based on this Stick-Slip phenomenon, the perception of slippage is realized. However, the difference in sliding direction which exists in the actual slip phenomenon could not be reproduced by only Stick-Slip vibration.

In this study, we synthesized asymmetric vibration capable of presenting direction via pseudo force sense and Stick-Slip vibration capable of reflecting the difference of friction condition such as sliding speed. Experimental results showed that it is possible to present both sliding direction and sliding speed by adding the asymmetric vibration to Stick-Slip vibration, and showed the effectiveness of the method.

接触面における滑り現象を再現するため、方向を提示可能な非対称振動とStick-Slip振動を合成しました。実験結果により、非対称振動をStick-Slip振動に加えることで、滑り方向と滑り速度の両方を提示可能であることが示されました。