Edge shape sensation presented in a noncontact manner using airborne ultrasound

To perceive 3D shapes such as pyramids, the perception of planes and edges as tactile sensations is an essential component. This is difficult to perceive with the conventional vibrotactile sensation used in ultrasound haptics because of its low spatial resolution. Recently, it has become possible to produce a high-resolution pressure sensation using airborne ultrasound. By using this pressure sensation, it is now possible to reproduce a linear, sharp-edged sensation in the area of a fingerpad. In this study, it is demonstrated that this pressure sensation can be used to reproduce the feeling of fine, sharp edges, and its effectiveness is confirmed by comparing it with conventional vibrotactile sensation. In the demonstration, participants can experience the contact sensation of several types of edges with different curvatures.