Experiment and analysis on line and surface tactile display based on pneumatic nozzle

In view of the line and surface tactility displayed by the pneumatic nozzle array, a fluid-structure coupled finite element model of the finger skin and nozzle was established. The concept of uniform coefficient which could characterize the uniformity and continuity of the line and surface tactility was proposed. The effects of nozzle diameter, nozzle space and inlet pressure on line and surface tactility were analyzed, and the design parameters of nozzle array were determined. The inlet pressure suitable for displaying the realistic perception was determined, and the conclusions were validated by experiments. The research on pneumatic tactile display is to lay a solid foundation for further applications in virtual assembly system and telepresence system.