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Variation of tactile feelings of focused ultrasound: modulation frequency and hand movement

Ultrasound-based aerial haptic feedback has been studied these days [Hoshi et al. 2010; Carter et al. 2013; Hasegawa and Shinoda 2013]. Studies on this technology mostly focused on producing contact sensation in air and investigating the characteristics of human tactile sensation. There are a few reports on the quality or metaphor of the produced tactile feelings. For example, 100-Hz or 200-Hz modulated ultrasonic stimulation was expressed as "electrostimulation," "a stream of air," and "a small soft-haired blush" in [Hoshi et al. 2010]. Synthesizing realistic tactile feelings, such as recorded from real blanket, is still remaining a difficult technological issue because of controlling hundreds of ultrasonic transducers.