Abstract With the advances of human-machine systems, tactile displays have become one of the important features for modern products. Tactile feedback can increase working efficiency and help humans to explore new environments or objects by the sense of touch. This study used a 3 × 3 electromagnet array and a ferrofluid bladder to build a tactile display module, which can create smooth and continuous real-time 2-D dynamic traveling waves. The interactions of magnetic fields between electromagnets in the array were used to control the directions of the magnetic lines of force to create different graph patterns. Our user test showed that the overall tactile perception rate was 74% for the 2-D dynamic graph patterns generated using the ferrofluid-based tactile display module.

中文翻译：

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用于触觉显示应用的具有 2D 动态行波的基于铁磁流体的模块的机械反馈分析

摘要 随着人机系统的进步，触觉显示已成为现代产品的重要特征之一。触觉反馈可以提高工作效率，帮助人类通过触觉探索新的环境或物体。本研究使用 3 × 3 电磁体阵列和铁磁流体囊来构建触觉显示模块，该模块可以创建平滑连续的实时二维动态行波。阵列中电磁铁之间的磁场相互作用用于控制磁力线的方向，以创建不同的图形图案。我们的用户测试表明，使用基于铁磁流体的触觉显示模块生成的 2-D 动态图形模式的整体触觉感知率为 74%。