{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,13]],"date-time":"2026-04-13T16:56:32Z","timestamp":1776099392475,"version":"3.50.1"},"reference-count":35,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2023,3,24]],"date-time":"2023-03-24T00:00:00Z","timestamp":1679616000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001691","name":"Japan Society for the Promotion of Science","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100001691","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Virtual Real."],"abstract":"<jats:p>To provide realistic tactile sensations in a virtual environment, it is necessary to stimulate both the cutaneous and proprioceptive senses. This study focuses on a realistic method of presenting softness through the use of electro-tactile stimulation. Our system combines a force-feedback device with an electric stimulator to create a soft sensation by applying a reaction force and spreading cutaneous sensation based on the amount of indentation. We measured the change in the contact area of gel samples and used electric stimulation to reproduce the increase in the contact area of the sample. We conducted a psychophysical experiment to evaluate the effectiveness of the combination of cutaneous and force sensations and confirmed that the sensation of softness was enhanced by the simultaneous presentation.<\/jats:p>","DOI":"10.3389\/frvir.2023.1133146","type":"journal-article","created":{"date-parts":[[2023,3,24]],"date-time":"2023-03-24T06:12:40Z","timestamp":1679638360000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":8,"title":["Softness presentation by combining electro-tactile stimulation and force feedback"],"prefix":"10.3389","volume":"4","author":[{"given":"Yui","family":"Suga","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Masahiro","family":"Takeuchi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Satoshi","family":"Tanaka","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hiroyuki","family":"Kajimoto","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1965","published-online":{"date-parts":[[2023,3,24]]},"reference":[{"key":"B1","doi-asserted-by":"crossref","first-page":"717","DOI":"10.1145\/2984511.2984526","article-title":"Normaltouch and texturetouch: High-fidelity 3d haptic shape rendering on handheld virtual reality controllers","volume-title":"Proceedings of the 29th annual symposium on user interface software and technology","author":"Benko","year":"2016"},{"key":"B2","doi-asserted-by":"publisher","first-page":"189","DOI":"10.1109\/toh.2009.16","article-title":"Cues for haptic perception of compliance","volume":"2","author":"Bergmann Tiest","year":"2009","journal-title":"IEEE Trans. Haptics"},{"key":"B3","first-page":"255","article-title":"Kinesthetic and cutaneous contributions to the perception of compressibility","author":"Bergmann Tiest","year":"2008"},{"key":"B4","doi-asserted-by":"publisher","first-page":"496","DOI":"10.1109\/70.880800","article-title":"Haptic discrimination of softness in teleoperation: The role of the contact area spread rate","volume":"16","author":"Bicchi","year":"2000","journal-title":"IEEE Trans. Robotics Automation"},{"key":"B5","first-page":"300","article-title":"A portable, arbitrary waveform, multichannel constant current electrotactile stimulator","author":"Cornman","year":"2017"},{"key":"B6","first-page":"42","article-title":"Multichannel vibrotactile display for sensory substitution during teleoperation","author":"Debus","year":"2002"},{"key":"B7","doi-asserted-by":"publisher","first-page":"133","DOI":"10.1007\/s00221-008-1507-5","article-title":"Magnitude estimation of softness","volume":"191","author":"Friedman","year":"2008","journal-title":"Exp. Brain Res."},{"key":"B8","first-page":"607","article-title":"Integration of kinesthetic and tactile display: A modular design concept","author":"Fritschi","year":"2006"},{"key":"B9","first-page":"78","article-title":"A new softness display interface by dynamic fingertip contact area control","author":"Fujita","year":"2001"},{"key":"B10","doi-asserted-by":"publisher","first-page":"232","DOI":"10.1109\/toh.2017.2715845","article-title":"Force-Rate cues reduce object deformation necessary to discriminate compliances harder than the skin","volume":"11","author":"Hauser","year":"2018","journal-title":"IEEE Trans. Haptics"},{"key":"B11","first-page":"247","article-title":"Measuring tactile cues at the fingerpad for object compliances harder and softer than the skin","author":"Hauser","year":"2016"},{"key":"B12","first-page":"327","article-title":"TextureExplorer: A tactile and force display for virtual textures","author":"Ikei","year":"2002"},{"key":"B13","doi-asserted-by":"crossref","DOI":"10.1109\/WHC49131.2021.9517192","article-title":"Electro-tactile display kit for fingertip","author":"Kajimoto","year":"2021"},{"key":"B14","article-title":"Combining point force haptic and pneumatic tactile displays","author":"Kim","year":"2006"},{"key":"B15","first-page":"132","article-title":"Real-time area-based haptic rendering for a palpation simulator","author":"Kyung","year":"2006"},{"key":"B16","volume-title":"How to effectively display surface properties using an integrated tactile display system","author":"Kyung","year":"2005"},{"key":"B17","doi-asserted-by":"publisher","first-page":"eabp8738","DOI":"10.1126\/sciadv.abp8738","article-title":"Super-resolution wearable electrotactile rendering system","volume":"8","author":"Lin","year":"2022","journal-title":"Sci. Adv."},{"key":"B18","first-page":"558","article-title":"Research on stiffness display perception of virtual soft object","author":"Liu","year":"2007"},{"key":"B19","doi-asserted-by":"publisher","first-page":"329","DOI":"10.1109\/tbme.1976.324593","article-title":"Analysis of a model for excitation of myelinated nerve","volume":"23","author":"McNeal","year":"1976","journal-title":"IEEE Trans. Biomed. Eng."},{"key":"B20","doi-asserted-by":"crossref","first-page":"615","DOI":"10.1145\/3294109.3295621","article-title":"inFORCE: Bi-directionalForce'Shape display for haptic interaction","volume-title":"Proceedings of the thirteenth international conference on tangible, embedded, and embodied interaction","author":"Nakagaki","year":"2019"},{"key":"B21","doi-asserted-by":"publisher","first-page":"518","DOI":"10.1109\/toh.2018.2854721","article-title":"Effect of cutaneous feedback on the perceived hardness of a virtual object","volume":"11","author":"Park","year":"2018","journal-title":"IEEE Trans. Haptics"},{"key":"B22","doi-asserted-by":"publisher","first-page":"662","DOI":"10.1021\/acsomega.7b01773","article-title":"Ionotactile stimulation: Nonvolatile ionic gels for human\u2013machine interfaces","volume":"3","author":"Root","year":"2018","journal-title":"Acs Omega"},{"key":"B23","first-page":"3","article-title":"Electrotactile display for integration with kinesthetic display","author":"Sato","year":"2007"},{"key":"B24","doi-asserted-by":"publisher","first-page":"109","DOI":"10.1109\/toh.2010.2","article-title":"Rendering softness: Integration of kinesthetic and cutaneous information in a haptic device","volume":"3","author":"Scilingo","year":"2010","journal-title":"IEEE Trans. Haptics"},{"key":"B25","doi-asserted-by":"publisher","first-page":"88","DOI":"10.1152\/jn.1995.73.1.88","article-title":"Tactual discrimination of softness","volume":"73","author":"Srinivasan","year":"1995","journal-title":"J. Neurophysiol."},{"key":"B26","doi-asserted-by":"crossref","first-page":"91","DOI":"10.1007\/978-4-431-55690-9_17","article-title":"Presentation of softness using film-type electro-tactile display and pressure distribution measurement","volume-title":"Haptic interaction","author":"Takei","year":"2015"},{"key":"B27","doi-asserted-by":"publisher","first-page":"32","DOI":"10.1016\/j.sna.2017.02.021","article-title":"Electrotactile display composed of two-dimensionally and densely distributed microneedle electrodes","volume":"258","author":"Tezuka","year":"2017","journal-title":"Sensors Actuators A Phys."},{"key":"B28","first-page":"442","article-title":"ElectroAR: Distributed electro-tactile stimulation for tactile transfer","volume-title":"Lecture notes in computer science","author":"Tirado","year":"2020"},{"key":"B29","first-page":"365","article-title":"Tacttoo: A thin and feel-through tattoo for on-skin tactile output","author":"Withana","year":"2018"},{"key":"B30","doi-asserted-by":"publisher","first-page":"4","DOI":"10.1109\/toh.2019.2959767","article-title":"Tactile exploration strategies with natural compliant objects elicit virtual stiffness cues","volume":"13","author":"Xu","year":"2020","journal-title":"IEEE Trans. Haptics"},{"key":"B31","doi-asserted-by":"publisher","first-page":"e1008848","DOI":"10.1371\/journal.pcbi.1008848","article-title":"An elasticity-curvature illusion decouples cutaneous and proprioceptive cues in active exploration of soft objects","volume":"17","author":"Xu","year":"2021","journal-title":"PLOS Comput. Biol."},{"key":"B32","doi-asserted-by":"publisher","first-page":"893","DOI":"10.1038\/s42256-022-00543-y","article-title":"Encoding of tactile information in hand via skin-integrated wireless haptic interface","volume":"4","author":"Yao","year":"2022","journal-title":"Nat. Mach. Intell."},{"key":"B33","doi-asserted-by":"publisher","first-page":"130","DOI":"10.1109\/toh.2016.2605084","article-title":"Comparative evaluation of tactile sensation by electrical and mechanical stimulation","volume":"10","author":"Yem","year":"2017","journal-title":"IEEE Trans. Haptics"},{"key":"B34","doi-asserted-by":"crossref","DOI":"10.1109\/VR.2018.8446403","article-title":"Effect of electrical stimulation haptic feedback on perceptions of softness-hardness and stickiness while touching a virtual object","author":"Yem","year":"2018"},{"key":"B35","doi-asserted-by":"publisher","first-page":"3928","DOI":"10.1109\/tvcg.2022.3203087","article-title":"TapeTouch: A handheld shape-changing device for haptic display of soft objects","volume":"28","author":"Zhu","year":"2022","journal-title":"IEEE Trans. Vis. Comput. Graph."}],"container-title":["Frontiers in Virtual Reality"],"original-title":[],"link":[{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/frvir.2023.1133146\/full","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,3,24]],"date-time":"2023-03-24T06:12:48Z","timestamp":1679638368000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/frvir.2023.1133146\/full"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,3,24]]},"references-count":35,"alternative-id":["10.3389\/frvir.2023.1133146"],"URL":"https:\/\/doi.org\/10.3389\/frvir.2023.1133146","relation":{},"ISSN":["2673-4192"],"issn-type":[{"value":"2673-4192","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,3,24]]},"article-number":"1133146"}}