This study aims to represent fine texture differences in pencil hardness using intensity segment modulation (ISM), a sensory equivalent conversion method of vibration from high to low frequencies. This method enables the presentation of delicate tactile sensations even with small transducers. We integrated this approach in the world's thinnest ultra-thin PZT-MEMS vibrator with a stylus-type device. The vibration waveforms of four types of pencil hardness were captured under the same conditions, and the differences in the frequency components were confirmed. We compared the fine texture feelings under raw signal, ISM, and ISM below 1 kHz conditions by conducting discrimination tests and subjective similarity evaluations. The results showed that ISM could reproduce similar feelings of the pencil hardness.

中文翻译：

---

使用超薄 PZT-MEMS 振动器通过高频振动触觉等效转换来表现铅笔硬度的精细纹理

本研究旨在使用强度分段调制（ISM）来表示铅笔硬度的精细纹理差异，ISM是一种从高频振动到低频振动的感官等效转换方法。即使使用小型传感器，这种方法也能呈现细腻的触觉。我们将这种方法集成到世界上最薄的带有触笔式设备的超薄 PZT-MEMS 振动器中。在相同条件下捕获四种铅笔硬度的振动波形，并确认频率成分的差异。我们通过区分测试和主观相似性评估，比较了原始信号、ISM 和低于 1 kHz 条件下的 ISM 的细腻质感感觉。结果表明，ISM 可以再现类似铅笔硬度的感觉。