Extended Data Fig. 7: The VR indoor scenes.

The VR scene and actual scene of users touching the cover of a book (a), touching the wood desk (b), holding a glass cup (c) and pouring hot water in the glass cup (d). The temperature change of touching the book is set around -2 °C (e), touching the desk is set around -4 °C (f) and touching the glass bottle is set around -6 °C (g) in virtual world due to the simulation results and pre-user tests. The temperature first decreases due to the lower temperature of the bottle, but the temperature raises drastically (~ + 12 °C) once hot water is poured into the bottle (h). The mechanical stimulus obtained from sliding on the book is mainly fine roughness, and the mechanical stimulus obtained from the book is mainly the hardness, thus the pulse width of touching book (i) is higher than that of touching the desk (j) and the frequency of touching desk (m) is much higher than that of touching the book (l) for getting a pulse-undistinguished pressure. For holding the bottle, five fingers are pressed on the virtual object (k) and the electrotactile activated when holding the bottle is a feeling composed of vibration and pressure reported by the users (n).