This paper proposes a novel concept of a hybrid tactile display with multistimulus feedback, allowing the real-time experience of the position, shape, and texture of the virtual object. The key technology of the TeslaMirror is that we can deliver the sensation of object parameters (pressure, vibration, and electrotactile feedback) without any wearable haptic devices. We developed the full digital twin of the 6 DOF UR robot in the virtual reality (VR) environment, allowing the adaptive surface simulation and control of the hybrid display in real-time. The preliminary user study was conducted to evaluate the ability of TeslaMirror to reproduce shape sensations with the under-actuated end-effector. The results revealed that potentially this approach can be used in the virtual systems for rendering versatile VR shapes with high fidelity haptic experience.

中文翻译：

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TeslaMirror：用于 VR 中形状和纹理渲染的多刺激遭遇型触觉显示

本文提出了一种具有多刺激反馈的混合触觉显示的新概念，允许实时体验虚拟对象的位置、形状和纹理。TeslaMirror 的关键技术是我们可以在没有任何可穿戴触觉设备的情况下传递物体参数（压力、振动和电触觉反馈）的感觉。我们在虚拟现实 (VR) 环境中开发了 6 DOF UR 机器人的全数字双胞胎，允许实时进行自适应表面模拟和混合显示控制。进行初步用户研究是为了评估 TeslaMirror 使用欠驱动末端执行器再现形状感觉的能力。