In order to enhance the sense of reality haptic display based on image, it is widely expected to express various characteristics of the objects in the image using different kinds of haptic feedback. To this end, a multi-mode haptic display method of image was proposed in this paper, including the multi-feature extraction of image and the image expression with various types of haptic rendering. First, the device structure integrating force and vibrotactile feedbacks was designed for multi-mode haptic display. Meanwhile, the three-dimensional geometric shape, detail texture and outline of the object in the image were extracted by various image processing algorithms. Then, a rendering method for the object in the image was proposed based on the psychophysical experiments on the piezoelectric ceramic actuator. The 3D geometric shape, detail texture and outline of the object were rendered by force and vibration tactile feedbacks, respectively. Finally, these three features of the image were haptic expressed simultaneously by the integrated device. Haptic perception experiment results show that the multi-mode haptic display method can effectively improve the authenticity of haptic perception.

中文翻译：

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基于力和振动触觉反馈集成的图像多模式触觉显示

为了增强基于图像的触觉显示的真实感，人们普遍期望使用不同种类的触觉反馈来表达图像中物体的各种特征。为此，本文提出了一种图像的多模式触觉显示方法，包括图像的多特征提取和各种类型的触觉渲染的图像表达。首先，为多模式触觉显示设计了集成力和振动触觉反馈的器件结构。同时，通过各种图像处理算法提取图像中物体的三维几何形状、细节纹理和轮廓。然后，基于压电陶瓷致动器的心理物理实验，提出了一种图像中物体的渲染方法。3D几何形状，物体的细节纹理和轮廓分别通过力和振动触觉反馈来呈现。最后，图像的这三个特征由集成设备同时进行触觉表达。触觉感知实验结果表明，多模式触觉显示方法可以有效提高触觉感知的真实性。