Haptic displays play an important role in enhancing the sense of presence in VR and telepresence. Displaying the tactile properties of fabrics has potential in the fashion industry, but there are difficulties in dynamically displaying different types of tactile sensations while maintaining their flexible properties. The vibrotactile stimulation of fabrics is an important element in the tactile properties of fabrics, as it greatly affects the way a garment feels when rubbed against the skin. To dynamically change the vibrotactile stimuli, many studies have used mechanical actuators. However, when combined with fabric, the soft properties of the fabric are compromised by the stiffness of the actuator. In addition, because the vibration generated by such actuators is applied to a single point, it is not possible to provide a uniform tactile sensation over the entire surface of the fabric, resulting in an uneven tactile sensation. In this study, we propose a Pinching Tactile Display: a conductive cloth that changes the tactile sensation by controlling electrostatic adsorption. By controlling the voltage and frequency applied to the conductive cloth, different tactile sensations can be dynamically generated. This makes it possible to create a tactile device in which tactile sensations are applied to the entire fabric while maintaining the thin and soft characteristics of the fabric. As a result, users could experiment with tactile sensations by picking up and rubbing the fabric in the same way they normally touch it. This mechanism has the potential for dynamic tactile transformation of soft materials.

翻译：触觉显示在增强虚拟现实和远程临场感中扮演着重要角色。展示织物的触觉特性在时尚行业具有潜力，但在保持织物柔性特性的同时动态呈现不同触感存在困难。织物的振动触觉刺激是影响其触感特性的关键要素，因为这极大影响了衣物与皮肤摩擦时的体感。为动态改变振动触觉刺激，许多研究采用了机械致动器。然而，当与织物结合时，致动器的刚性会削弱织物的柔软特性。此外，这类致动器产生的振动作用于单点，无法在织物表面提供均匀的触感，导致触觉体验不均匀。本研究提出一种针刺触感显示器：通过控制静电吸附改变触感的导电织物。通过调节施加于导电织物的电压与频率，可动态产生不同触感。这使得在保持织物纤薄柔软特性的同时，能够制造出触感覆盖整个织物的触觉装置。最终，用户可通过常规方式抓握摩擦织物来体验触感变化。该机制为柔性材料的动态触觉转换提供了潜在可能。