Extended Data Fig. 1: Thermal simulation of the temperature changes when finger touch different materials.
From: A skin-integrated multimodal haptic interface for immersive tactile feedback
a, The schematic diagram of the thermal simulation model where the finger is simplified into a cylinder. The thermoreceptors are set at a depth of 0.4 mm under the skin. The temperature distribution around the contact region (b) and the thermoreceptors (c) for the finger (R = 8 mm) touching a 5 mm thick quartz glass base at 30 s, in which T1 = 30 °C, T2 = Te = 20 °C, L = 70 mm. d, Time-dependent temperature change curves when a finger (6 mm radius, 30 °C) touches a 2 cm-thick base with different materials (20 °C). e, Summary of the temperature changes in (d) at 5 s, 10 s and 30 s after touching. f, The average temperature changes (over the thermoreceptors) of a finger with 8 mm radius touching the base with different materials and thicknesses at 10 s. g, The average temperature changes (over the thermoreceptors) for the fingers with different radii touching a 5 mm-thick base with different materials at 10 s.
