We propose a new lateral force feedback device, the UltraShiver, which employs a combination of in-plane ultrasonic oscillation (around 30 kHz) and out-of-plane electroadhesion. It can achieve a strong active lateral force (400 mN) on the bare fingertip while operating silently. The lateral force is a function of pressing force, lateral vibration velocity, and electroadhesive voltage, as well as the relative phase between the velocity and voltage. In this paper, we perform experiments to investigate characteristics of the UltraShiver and their influence on lateral force. A lumped-parameter model is developed to understand the physical underpinnings of these influences. The model with frequency-weighted electroadhesion forces shows good agreement with experimental results. In addition, a Gaussian-like potential well is rendered as an application of the UltraShiver.

中文翻译：

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UltraShiver：通过超声波振荡和电粘附作用在裸指尖上的横向力反馈

我们提出了一种新的横向力反馈装置 UltraShiver，它结合了面内超声振荡（约 30 kHz）和面外电粘附。它可以在无声运行的同时，在裸露的指尖上实现强大的主动侧向力（400 mN）。横向力是压力、横向振动速度和电粘附电压以及速度和电压之间的相对相位的函数。在本文中，我们进行了实验以研究 UltraShiver 的特性及其对侧向力的影响。开发了一个集总参数模型来理解这些影响的物理基础。具有频率加权电粘附力的模型与实验结果非常吻合。此外，