This paper proposes a novel concept of a hybrid tactile display with multistimulus feedback, allowing the real-time experience of the position, shape, and texture of the virtual object. The key technology of the TeslaMirror is that we can deliver the sensation of object parameters (pressure, vibration, and electrotactile feedback) without any wearable haptic devices. We developed the full digital twin of the 6 DOF UR robot in the virtual reality (VR) environment, allowing the adaptive surface simulation and control of the hybrid display in real-time. The preliminary user study was conducted to evaluate the ability of TeslaMirror to reproduce shape sensations with the under-actuated end-effector. The results revealed that potentially this approach can be used in the virtual systems for rendering versatile VR shapes with high fidelity haptic experience.

翻译：本文提出了一种具有多刺激反馈的新型混合触觉显示概念，允许实时体验虚拟物体的位置、形状和纹理。TeslaMirror的关键技术在于无需任何可穿戴触觉设备即可传递物体参数（压力、振动和电触觉反馈）的感知。我们在虚拟现实环境中开发了6自由度UR机器人的完整数字孪生，实现了混合显示器的自适应表面仿真和实时控制。通过初步用户研究评估了TeslaMirror使用欠驱动末端执行器复现形状感知的能力。结果表明，该方法可潜在地用于虚拟系统中，以高保真触觉体验渲染多样化的VR形状。