Abstract In this paper, a bimodal tactile display used to stimulate the mechanoreceptors is proposed. The use of tactile displays to provide tactile sensations has become the object of increasing interest in recent years. Most of these displays have only one actuator type to generate the tactile perceptions and the spatial resolution of many displays is too rough for good tactile impression. Hence, for the proposed tactile display, two types of actuators for lateral and vertical (normal) excitation are combined. The resolution of the 4 × 4 array is 2.4 mm. Due to its design concept, the presented display is easily expanded. The normal actuator is based on the reluctance principle and the lateral actuator is based on the piezoelectric effect. This contribution focuses on the design and characterization of the piezoelectric actuator. The lateral actuator is mounted on the normal actuator. This has a significant impact on the design of the piezoelectric actuator. To describe the dynamics of this actuator, a Transfer Matrix Method (TMM) Model is created. The mechanical boundary condition at the connection to the normal actuator is included utilizing discrete elements. The model is validated by experiments. Using the model, the geometry of the actuator elements is designed. For performance tests, several experiments have been carried out. The behavior of the lateral actuator has been analyzed in the two end positions of the normal actuators for different load conditions. In terms of performance, the lateral actuators achieve sufficient deflection, even under high load conditions, using imitation human skin as the contact material and with a weight of 50 g. It is shown in a subject test that the lateral actuator works well under real conditions. A measurement of the combined movement has been performed using a Micro System Analyzer (MSA-100-3D) at different frequencies.

中文翻译：

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具有两个激励方向的双峰触觉显示器的横向致动器的设计和表征

摘要 在本文中，提出了一种用于刺激机械感受器的双峰触觉显示器。近年来，使用触觉显示器来提供触觉已成为越来越受关注的对象。大多数这些显示器只有一种致动器类型来产生触觉感知，而且许多显示器的空间分辨率对于良好的触觉印象来说太粗糙了。因此，对于所提出的触觉显示器，组合了用于横向和垂直（正常）激励的两种类型的致动器。4 × 4 阵列的分辨率为 2.4 mm。由于其设计理念，呈现的显示很容易扩展。普通致动器基于磁阻原理，横向致动器基于压电效应。这一贡献集中在压电致动器的设计和表征上。横向执行器安装在标准执行器上。这对压电致动器的设计具有重大影响。为了描述该执行器的动力学，创建了传递矩阵方法 (TMM) 模型。连接到正常执行器的机械边界条件包括使用离散元素。该模型通过实验验证。使用该模型，设计了致动器元件的几何形状。对于性能测试，已经进行了多次实验。横向执行器的行为已经在正常执行器的两个端部位置进行了不同负载条件下的分析。在性能方面，横向执行器即使在高负载条件下也能实现足够的偏转，使用仿人皮肤作为接触材料，重量为50克。在主题测试中表明，横向执行器在实际条件下工作良好。使用微型系统分析仪 (MSA-100-3D) 在不同频率下对组合运动进行了测量。