Fig. 6: High-resolution electrotactile pattern enabled through interference stimulation.

a Schematic illustration of the distribution of stimulation sites for various stimulation types. The red squares indicate the area covered by the finger. b Schematic image of the complex pattern and stimulation sequence of a flame created by combining single stimulation sites with interference stimulation sites. c Stimulation patterns that are combined to create a pattern of current density mapping data. d The total number of stimulation sites in the finger area and the total area. e Confusion matrix results of 50 perception trials corresponding to each pattern.