Fig. 3

Tactor activation characteristics. a Exemplar activation mapping for state feedback of hand position wherein displacements of the hand were mapped onto tactor excitation voltages, as a percentage of Full Scale Range (FSR = 5.0 V). b Realized mapping between tactor activation and vibration amplitude (data points), and a solid line representing the best-fit polynomial reveal a nonlinear, monotonically increasing relationship over the entire half-workspace encoded by each tactor. A dashed line fit between the lowest and highest sample points provides an “ideal” linear reference for comparison. Grey shading indicates the half-workspace spanned by the home and far targets. c Pulse-step scheme employed to decrease the response time of the tactors. See text for details