At present, the tactile perception of 3D geometric bumps (such as sinusoidal bumps, Gaussian bumps, triangular bumps, etc.) on touchscreens is mainly realized by mapping the local gradients of rendered virtual surfaces to lateral electrostatic friction, while maintaining the constant normal feedback force. The latest study has shown that the recognition rate of 3D visual objects with electrovibration is lower by 27|$\%$| than that using force-feedback devices. Based on the custom-designed tactile display coupling with electrovibration and mechanical vibration stimuli, this paper proposes a novel tactile rendering algorithm of 3D geometric bumps, which simultaneously generates the lateral and the normal perceptual dimensions. Specifically, a mapping relationship with the electrostatic friction proportional to the gradient of 3D geometric bumps is firstly established. Then, resorting to the angle between the lateral friction force and the normal feedback force, a rendering model of the normal feedback force using mechanical vibration is further determined. Compared to the previous works with electrovibration, objective evaluations with 12 participants showed that the novel version significantly improved recognition rates of 3D bumps on touchscreens.

中文翻译：

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使用耦合的电振动和机械振动刺激改善3D几何凹凸的触觉

目前，触摸屏上的3D几何凸点（例如正弦凸点，高斯凸点，三角形凸点等）的触觉主要是通过将渲染虚拟表面的局部梯度映射到横向静电摩擦来实现的，同时保持恒定的法向反馈力。最新研究表明，带电振动的3D视觉对象的识别率降低了27 | $ \％$ |比使用力反馈装置 基于定制设计的触觉显示与电振动和机械振动刺激的耦合，提出了一种新颖的3D几何凸点触觉渲染算法，该算法同时生成横向和法向感知尺寸。具体地，首先建立具有与3D几何凸块的梯度成比例的静电摩擦的映射关系。然后，借助于横向摩擦力和法向反馈力之间的角度，进一步确定使用机械振动的法向反馈力的绘制模型。与以前的电振动作品相比，对12位参与者的客观评估表明，该新颖版本显着提高了触摸屏上3D凸起的识别率。