Mid-Air Thermo-Tactile Feedback using Ultrasound Haptic Display
summary
A prototype combines an open-top dome chamber, two heat modules and an ultrasound haptic display with a hand tracker to deliver co-located thermal and vibrotactile cues along an ultrasound focal point. It generates up to 54.2°C and 3.43 mN (100 Hz, 12 mm radius) with temperature stability mean error 0.25%. Warm detection is 32.8°C (SD 1.12) and heat-pain 44.6°C (SD 1.64). Tactile pattern ID is 98.1% without heat and 97.2% with heat; 16-user VR scenes show thermo-tactile beats single modalities on immersion, enjoyment, and satisfaction.
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