Tactile sensation is essential for humans to recognize objects. Various devices have been developed in the past for tactile presentation by electrostatic force, which are easy to configure devices, but there is currently no such device that features stretchability. Considering that the device is worn over the joints of a human body or robot, it is extremely important that the device itself be stretchable. In this study, we propose a stretchable electrostatic tactile surface comprising a stretchable transparent electrode and a stretchable insulating film that can be stretched to a maximum of 50%. This means that when attached to the human body, this surface can respond to the expansion and contraction that occur due to joint movements. This surface can also provide tactile information in response to deformation such as pushing and pulling. As a basic investigation, we measured the lower limit of voltage that can be perceived by changing the configuration of the surface and evaluated the states of stretching and contraction. We also investigated and modeled the relationship between the voltage and the perceived intensity.

翻译：触觉是人类识别物体的关键。过去已开发出多种利用静电力实现触觉呈现的装置，这些装置易于配置，但目前尚不具备可拉伸特性。考虑到此类装置需穿戴于人体或机器人的关节部位，装置本身的可拉伸性至关重要。本研究提出一种可拉伸静电触觉表面，由可拉伸透明电极与可拉伸绝缘薄膜构成，最大可拉伸至原长的150%。这意味着当该表面附着于人体时，能够适应关节运动导致的伸缩变形。该表面还能在推拉等形变过程中提供触觉反馈。作为基础研究，我们通过改变表面结构测量了可感知电压的下限，评估了拉伸与收缩状态下的性能，并对电压与感知强度之间的关系进行了建模研究。