Model Proposition for Friction Attenuation Analysis in Lateral Ultrasonic Surface Haptic Devices

Friction attenuation using ultrasonic lateral surface haptic devices (ULSHD) can modify the user perception of the touched surface and induce the perception of textured materials. In the current paper, the mechanisms of friction attenuation using lateral vibration are analyzed at different finger exploration velocities and directions over a plate. A development of a non-Coulombic friction function based on experimental results is proposed and evaluated.