It is known that our touch sensation is a result of activities of four types of mechanoreceptors. If we could selectively activate these receptors, we could combine and present any types of tactile sensation. This approach has been studied but not fully achieved. In our study, we combined electrical and mechanical stimulation to selectively stimulate these four channels and thus to achieve high-fidelity tactile sensation. The electrical stimulation with array of electrodes presents pressure and low frequency vibration with high spatial resolution, while the mechanical stimulation with DC motor presents high frequency vibration and shear deformation of the whole finger.
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