Technical Reports (CIS)

Document Type

Technical Report

Date of this Version

January 2003


University of Pennsylvania Department of Computer and Information Science Technical Report No. MS-CIS-03-44.


We constructed low cost tactors for vibrotactile feedback across the human arm for the purpose of providing a physical sensation surrogate for virtual objects. The tactors were built from readily available commercial parts, and provide low amplitude vibration for tactile feedback. The tactors are Velcro mounted on a custom suit designed to ensure localized sensations of each tactor. The suit is designed to be compatible with standard motion capture devices. Our suit provides 24 vibratory tactors in a tactor array on the user’s right arm and hand, and can easily be expanded to include the entire torso and body.



Date Posted: 27 October 2006