UltraShiver: Lateral Force Feedback on a Bare Fingertip via Ultrasonic Oscillation and Electroadhesion

Heng Xu*, Michael A. Peshkin, J. Edward Colgate

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

14 Scopus citations


We propose a new lateral force feedback device, the UltraShiver, which employs a combination of in-plane ultrasonic oscillation (around 30 kHz) and out-of-plane electroadhesion. It can achieve a strong active lateral force (400 mN) on the bare fingertip while operating silently. The lateral force is a function of pressing force, lateral vibration velocity, and electroadhesive voltage, as well as the relative phase between the velocity and voltage. In this paper, we perform experiments to investigate characteristics of the UltraShiver and their influence on lateral force. A lumped-parameter model is developed to understand the physical underpinnings of these influences. The model with frequency-weighted electroadhesion forces shows good agreement with experimental results. In addition, a Gaussian-like potential well is rendered as an application of the UltraShiver.

Original languageEnglish (US)
Article number8798709
Pages (from-to)497-507
Number of pages11
JournalIEEE Transactions on Haptics
Issue number4
StatePublished - Oct 1 2019


  • Surface haptics
  • active force
  • electroadhesion.
  • lateral force feedback
  • ultrasonic oscillation

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Computer Science Applications


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