We evaluated the two real-time algorithms

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At three rendered amplitudes for ten tactile patterns representing five single-finger and five whole-hand touch interactions on the user's upper arm. In our first study, we evaluated amplitudes of 1.40 and 1.74 G at a constant frequency of 175 Hz. The results of this study indicated that the Grid Region algorithm afforded significantly better recognition accuracy than our new Syncopated Energy algorithm. However, a significant interaction effect of algorithm and amplitude indicated that the Syncopated Energy algorithm may afford greater perceived continuity at higher amplitudes.

Hence, in our second study, we evaluated the amplitudes of 1.74 and 2.35 G at a constant frequency of 225 Hz. Again, the Grid Region algorithm afforded significantly better recognition accuracy, but our Syncopated Energy Spain phone number list algorithm afforded significantly more perceived continuity. From the two studies, we also found that increasing amplitude generally improved recognition accuracies and that increasing frequency improved recognition accuracies for the single-finger touch gestures. Related Work We review several aspects of prior tactile research below. First, we discuss the temporal and spatial aspects of tactile stimuli.



We then discuss characteristics specific to vibrotactile stimuli, which are generated by vibration motors such as linear resonate actuators (LRAs) and eccentric rotating mass (ERM) motors. Finally, we discuss prior vibrotactile rendering algorithms that have been used to convey the sensation of being touched in VR applications. Temporal Aspects of Tactile Stimuli Prior researchers have investigated the temporal aspects of tactile stimuli, including the durations of individual stimuli, the intervals between the onsets of stimuli, and the synchronization of tactile and non-tactile stimuli. The duration of an individual tactile stimulus has been found to influence perceived intensity, despite controlling the amplitude of the stimulus.