In this paper, we explore the effects of multimodal haptic feedback combining vibrotactile and electrical muscle stimulation (EMS) on expressing virtual collisions. We first present a wearable multimodal haptic device capable of generating both mechanical vibration and EMS stimuli. The two types of haptic stimulus are combined into a haptic rendering method that conveys improved virtual collision sensations. This multimodal rendering method highlights the strengths of each modality while compensating for mutual weaknesses. The multimodal rendering method is compared in subjective quality with two unimodal methods (vibration only and EMS only) by a user study. Experimental results demonstrate that our multimodal feedback method can elicit more realistic, enjoyable, expressive, and preferable user experiences.

中文翻译：

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结合振动触觉和电肌肉刺激的虚拟碰撞多模态触觉反馈

在本文中，我们探讨了结合振动触觉和电肌肉刺激（EMS）的多模态触觉反馈对表达虚拟碰撞的影响。我们首先提出了一种可穿戴多模式触觉设备，能够产生机械振动和 EMS 刺激。这两种类型的触觉刺激被组合成触觉渲染方法，传达改进的虚拟碰撞感觉。这种多模态渲染方法突出了每种模态的优点，同时弥补了相互的弱点。通过用户研究，将多模态渲染方法与两种单模态方法（仅振动和仅 EMS）的主观质量进行比较。实验结果表明，我们的多模态反馈方法可以带来更真实、更愉快、更富有表现力和更好的用户体验。