The Slip-Pad: A haptic display using interleaved belts to simulate lateral and rotational slip

We introduce a novel haptic display designed to reproduce the sensation of both lateral and rotational slip on a user's fingertip. The device simulates three-degrees-of-freedom of slip by actuating four interleaved tactile belts on which the user's finger rests. We present the specifications for the device, the mechanical design considerations, and initial evaluation experiments. We conducted experiments on user discrimination of tangential lateral and rotational slip. Initial results from our preliminary experiments suggest the device design has potential to simulate both tangential lateral and rotational slip. Source files: https://github.com/Slip-Pad.