Detection and Discrimination Thresholds for Haptic Gratings on Electrostatic Tactile Displays.

Designing algorithmsfor rendering haptic texture on electrostatic tactile displays requires a quantitative understanding of human perception. In this paper, we report detection and discrimination thresholds for haptic gratings rendered on such displays based on the waveform and amplitude of the applied voltage. The haptic gratings consist of functions that describe the variation in voltage amplitude as a function of the position of finger on the display.