Presentation of tracing sensation with different roughness by using disk with uneven surface

Tracing sensation plays an important role in discriminating friction and texture of objects. We have been studying a method of presenting the tracing sensation by contacting the center of a rotating disk with the fingertip. Although this method can reduce the size and complexity of the presentation device compared to conventional methods, it has the problem of fixed sensation. In this study, we examined a method to dynamically modulate the roughness sensation by devising the surface shape of the disk. We designed two types of disks: slit disks and milling disks. Experiments revealed that the perceived roughness of these disks can be changed by altering the rotation speed and direction.