LateralPaD: A surface-haptic device that produces lateral forces on a bare finger

Xiaowei Dai*, Ed Colgate, Michael Peshkin

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

38 Scopus citations


The LateralPaD is a surface haptic device that generates lateral (shear) force on a bare finger, by vibrating the touch surface simultaneously in both out-of-plane (normal) and in-plane (lateral) directions. A prototype LateralPaD has been developed in which the touch surface is glass, and piezoelectric actuators drive normal and lateral resonances at the same ultrasonic frequency (∼22.3 KHz). The force that develops on the finger can be controlled by modulating the relative phase of the two resonances. A 2DOF load cell setup is used to characterize the dependence of induced lateral force on vibration amplitude, relative phase, and applied normal force. A Laser Doppler Vibrometer (LDV) is used to measure the motion of glass surface as well as of the fingertip. Together, these measurements yield insight into the mechanism of lateral force generation. We show evidence for a mechanism dependent on tilted impacts between the LateralPaD and fingertip.

Original languageEnglish (US)
Title of host publicationHaptics Symposium 2012, HAPTICS 2012 - Proceedings
Number of pages8
StatePublished - May 15 2012
Event2012 IEEE Haptics Symposium, HAPTICS 2012 - Vancouver, BC, Canada
Duration: Mar 4 2012Mar 7 2012


Other2012 IEEE Haptics Symposium, HAPTICS 2012
CityVancouver, BC


  • Surface haptic
  • lateral force

ASJC Scopus subject areas

  • Human-Computer Interaction

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