Figure 1

Overview of the proposed virtual light-touch system.The system involves the steps of motion monitoring and processing, virtual force estimation based on non-contact impedance, and force feedback provision to the user via a vibrotactile stimulator based on motion. (A) Basic system involving 3D motion capture and non-contact impedance with full parameters. (B) Wearable light-touch device with a simple acceleration sensor and a vibrotactile stimulator based on the simplest equation of motion (acceleration only).