HAPTIC DEVICE WITH CONTROLLED TRACTION FORCES

A haptic device comprising a substrate having a surface, a first actuator that modulates a friction experienced by a user's finger touching the substrate surface, a second actuator that oscillates the substrate surface laterally, such that the combined effect of the first and second actuator is a net shear force applied to the user's finger, a finger position sensor that detects and measures location of the user's finger relative to the substrate surface, and a control device that receives at least one parameter related to the location of the user's finger and controls the first actuator and second actuator to simulate the feel of a shape different from that of the substrate.