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We describe the development of a haptic interface that can present the sensation of softness to multiple fingers. Human hands experience the sensation of softness when touching a yielding object like a human body. In virtual training systems for medical procedures such as palpation, how to display softness at multiple fingertips is an essential and demanding problem. To solve it, we develop a softness-display...
When we touch a human body, the flesh yields to our touch and we feel a sensation of softness. In virtual training systems for medical procedures such as palpation, the display of softness at the fingertips is essential. This paper proposes a softness-display device using a flexible sheet, and we present the concept of softness display at multiple fingers by combining the developed softness-display...
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