Haptic Interface Device Using Cable Tension Based on Ultrasonic Phased Array

This paper presents a new haptics interface device based on cable-driven parallel manipulators and an ultrasonic phased array. Unlike previous studies, our method combines force and tactile feedback at the same time. It consists of two main parts: force feedback generated by cable tension and tactile feedback provided by an ultrasonic phased array. While these parts have no direct interference, combining them can offer a synergistic effect on haptic perception. Through a series of experiments, the tactile rendering algorithm for this device is established. The output pressure of ultrasonic phased array is dependent on input command value, modulation frequency, modulation waveform, and the position of the focal point in the workspace. The results of psychophysical experiments are evaluated to determine the absolute threshold of perceivable ultrasonic tactile feedback when the cable-driven force acts on fingers. Finally, we carry out a test to confirm the accuracy advantage of our system in the virtual environment. The results of our study indicate that this device has a wide range of applications in the field of aerial haptic display.