A multi-modal haptic interface for virtual reality and robotics

Michele Folgheraiter, Giuseppina Gini, Dario Vercesi

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)


In this paper we present an innovative haptic device that combines the electro-tactile stimulation with the force and visual feedbacks in order to improve the perception of a virtual world. We discuss the sensation evoked in a user by the haptic, force, and the visual interface as provided by this device, implemented as a special glove, equipped with sensors and actuators connected to a PC. The techniques used to recreate tactile and kinesthetic sensations are based on an innovative use of cutaneous stimulation integrated with actuators and 3D modelling techniques. We discuss about the specificity of haptic interfaces, their controllers, their open problems. We present results about generating the sensation of touching virtual objects with our device. Experiments show also that, using a multi-modal sensorial pattern of stimulation, the subject perceives more realistically the virtual object. We discuss the possible use of the same technique as a way to interface intelligent robots.

Original languageEnglish
Pages (from-to)465-488
Number of pages24
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number3-4
Publication statusPublished - Aug 2008


  • Electro-tactile stimulation
  • Haptic devices
  • Haptic display
  • Robotic grasp
  • Virtual reality

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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