Simulation for Multipoint Haptic Feedback Based on Ultrasound Phased Array As a new type of interaction way, haptic feedback has attracted a lot of attention. Among different kinds of haptic feedback methods, contactless haptic feedback based on ultrasound array has become one of the most promising methods because of its simple structure, low cost, diverse feedback forms and flexible adjustment. This paper firstly discusses the mechanism of human bodyu0027s tactile sensation in detail, and then analyzes the mechanism of the realization of haptic feedback by ultrasound phased array. Then the mathematical model of ultrasound phased arrayxe2x80x99s acoustic field is established, and the methods for solving single point and multipoint haptic feedback are presented. The energy efficiency is further optimized for the solution of multipoint haptic feedback.

Multimodal Fusion Transcutaneous Electrical System for Haptic Feedback Haptic feedback is one of the important ways to sense surrounding environment. In terms of grasping objects, the haptic feedback assists in improving accuracy and assists man to recognize the shape of object. Thus, restoring haptic feedback of amputee is very meaningful and challengeable. In this paper we present a selfdeveloped transcutaneous electrical nerve stimulator which can stimulate neuromuscular by different waveform, frequency and voltage to generate haptic feedback for the amputee. The stimulator with multiple independent channels can generate up to 8 waveforms per electrode channel and can communicate any device by Bluetooth 4.0 using our custom communication protocol to improve the stimulator reliability. In order to choose the optimal stimulus waveform, frequency, current and location, the PC software have been designed to control the transcutaneous electrical nerve stimulator. We test the transcutaneous electrical nerve stimulator in human test. By questionnaire, pretest results showed that different stimulus location can evoke different figure movements, different stimulus waveforms can evoke different haptic sensation and the human have a same sense when stimulating in the same waveform.