Haptic Interface for Displaying Softness at Multiple Fingers: Combining a Side-Faced-Type Multifingered Haptic Interface Robot and Improved Softness-Display Devices

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 soft...