The most important thing in a thin and soft haptic module with an electroactive polymer actuator array is to increase its vibrotactile amplitude and to create a variety of vibrotactile sensations. In this paper, we introduce a thin film-type electroactive polymer actuator array capable of stimulating two types of human mechanoreceptors simultaneously, and we present a haptic rendering method that maximizes the actuators' vibrational force without improving the array's haptic performance. The increase in vibrational amplitude of the soft electroactive polymer actuator array is achieved by creating a beat vibration, which is an interference pattern of two vibrations with slightly different frequencies. The textures of a target object are translated into haptic stimuli using the proposed method. We conducted qualitative and quantitative experiments to evaluate the performance of the proposed rendering method. The results showed that this method not only amplifies the vibration's amplitude but also haptically simulates various objects' surfaces.
Keywords: beat phenomenon; carrier frequency; haptic simulation; vibration frequency; vibrotactile actuator array.