Wearable haptic displays can provide haptic information while allowing for free body movement. Among these haptic displays, pneumatic haptic displays have the advantages of flexibility and lightweight; however, they require bulky air tubes and a heavy air compressor. To solve this problem, we propose a wearable haptic display that uses a liquid-to-gas phase change actuator and a Peltier device as a way to reduce the size of the entire system. A low-boiling-point liquid is encapsulated in the flexible bladder of the actuator, and the vaporization of the liquid, which induces the inflation of the actuator, is controlled by the external Peltier device. In this study, we implemented a pressure sensor to monitor pressure inside the liquid-to-gas phase change actuator. The pressure measurement will contribute to controlling the generated normal force. First, we characterized the pressure response concerning the design of the liquid-to-gas phase change actuator. Next, we evaluated the output normal force of the haptic display and confirmed that the maximum output force reached a few newtons, which is a similar level to the off-the-shelf wearable haptic display devices. Finally, a sensory evaluation revealed that the experimental participants perceived the haptic stimulus to their fingertips provided by the proposed haptic display in a few seconds. According to the obtained results, the proposed haptic display can be applied to applications such as human interfaces to provide force, allowing for a response time of a few seconds.

Tactile displays have been extensively studied for several decades. However, owing to their bulkiness and stiffness, it has been difficult to integrate these displays with information devices to enable tactile communication between the devices and their users. This paper proposes a novel sheet-type electrovibration tactile display that consists of poly(3,4-ethylenedioxythiophene) polystyrene sulfonate conductive layers and an insulation layer of polydimethylsiloxane. The tactile display is sufficiently thin and flexible for attaching onto various surfaces. In this study, the tactile display was micro-fabricated and characterized through experiments. The experimental results indicated that the tactile display exhibited good durability under bending and that it could present various tactile sensations depending on the type of voltage waveform. In addition, the effect of using a combination of electrovibration and thermal stimuli was also demonstrated. The sheet-type display was attached onto a Peltier element; the thinness of the structure enabled the display to conform to the element and ensure good heat transfer. In the experiment, subjects were asked to scan the display with their fingertips. The results showed that multiple tactile stimuli were also successfully perceived by the subjects.

In recent years, soft robots have been attracting interest because of their potential for new application fields. Among soft actuators for soft robots, liquid-to-gas phase change actuators have the advantage of structural simplicity. However, the actuators require an external heater to vaporize a low boiling point liquid inside the actuator. The heater typically consists of a solid electrode that often reduces the durability and flexibility of the heater. In this study, we propose a small liquid-to-gas phase change actuator with an integrated liquid metal heater. A low boiling point liquid and liquid metal heater were encapsulated in a nylon-polyethylene bladder using wire molding. The proposed soft actuator has high flexibility and durability against bending because of the material used. We experimentally characterized actuators of different sizes with respect to the generated force, displacement, and time response. We also confirmed that the soft actuator could work even after bending 1000 times.

In this study, we demonstrate the design and evaluation of a stiffness tactile display using a magnetorheological (MR) fluid. The tactile display is based on the change in mechanical properties under an external magnetic field. In the tactile display, the MR fluid is encapsulated in chambers of 3 mm diameter and arranged at intervals of 2 mm. Magnetic fields were spatially applied to the tactile display using neodymium magnets of 3.5 mm diameter. The design and spatial magnetic field application enable the tactile display to present stiff dots of 5 mm resolution. We confirmed that the tactile display can present a spatial stiff dot and its pattern on the surface by compression experiments. Sensory evaluation revealed that the users were able to perceive the approximate position of the stiff dots. From the experiments, the tactile display has potential as a palpation tactile display and requires improvement to present various types of tissues.

In this paper, we propose and demonstrate a haptic device with liquid-pouch motors that can simulate a handshake. Because handshakes involve contact of the palms or soft skin, handshake simulation requires the haptic device to provide pressure onto specific areas of the palm with soft contact. This can be achieved with thermally driven liquid-pouch motors, which inflate and deflate when a low-boiling-point liquid, here Novec™ 7000, evaporates and condenses, respectively. Due to the simplicity of the soft actuator system, this haptic glove is lightweight and conformable. To design the haptic glove, we experimentally investigated the contact region and strength in handshakes, which led to an optimal number, size and position for the liquid-pouch motors. Sensory experiments with human subjects verified that the designed haptic glove successfully simulated handshakes.

In this study, we examined information leakage in photoplethysmogram (PPG)-based biometric authentication and assessed an attack against authentication based on the information leakage. Several approaches have been proposed to apply PPG to biometric authentication using a wearable device; however, there may be several attacks against PPG-based authentication. One of the attacks is a “presentation attack” (PA), which utilizes the information leakage originating from the various PPG measurement sites on a body. The PA records the victim’s PPG stealthily on non-genuine measurement sites and transmits it to the PPG sensor to break the authentication. We examined the information leakage and assessed the PA by evaluating feature values extracted from the PPG signals. We recorded the PPG signals of 12 participants on their fingertips and wrists. We compared the feature values extracted from the recorded PPG signals by computing the differences, correlation coefficients, and mutual information to examine the leakage of information required for the PPG-based authentication. We then assessed the feasibility of a PA based on existing PPG-based authentication algorithms and evaluated the contribution of each value to authentication and PA by computing the permutation importance of all feature values. The experimental results indicated that there might be information leakage and selection of feature values to reduce the feasibility of the PA up to 62.8 %.