Influence of visual and tactile feedback on haptic sensation by muscle electric stimulation

Electrical muscle stimulation (EMS) has been utilized in various haptic interfaces. To enhance pseudo-haptic feedback provided via the EMS, we have proposed to incorporated visual feedback with the electric stimulation and confirmed the effect of the feedback on the sense of force induced by the EMS. In this study, we investigated the influence of the vibrotactile feedback in addition to the visual feedback on the haptic sensation by the EMS. The experimental results show that the perceived force with the visual and the vibrotactile feedback tend to be larger than the force exerted in the sole electrical stimulation condition.