From: Characterization of Tactors Used in Vibrotactile Displays Date of download: 11/11/2017 Copyright © ASME. All rights reserved. From: Characterization of Tactors Used in Vibrotactile Displays J. Comput. Inf. Sci. Eng. 2008;8(4):044501-044501-5. doi:10.1115/1.2988384 Figure Legend: Pancake motor with eccentric mass exposed (left), pancake motor (center), and motor encased in plastic (right)

From: Characterization of Tactors Used in Vibrotactile Displays Date of download: 11/11/2017 Copyright © ASME. All rights reserved. From: Characterization of Tactors Used in Vibrotactile Displays J. Comput. Inf. Sci. Eng. 2008;8(4):044501-044501-5. doi:10.1115/1.2988384 Figure Legend: Oscillation of encased motor during activation at 3.3 V

From: Characterization of Tactors Used in Vibrotactile Displays Date of download: 11/11/2017 Copyright © ASME. All rights reserved. From: Characterization of Tactors Used in Vibrotactile Displays J. Comput. Inf. Sci. Eng. 2008;8(4):044501-044501-5. doi:10.1115/1.2988384 Figure Legend: Oscillation frequencies measured for each of the unencased motors. Each line on the x-axis represents a different motor, and each shape on the y-axis shows the frequency of the motor’s oscillation for a single trial. The motors are rank ordered by their mean frequency.

From: Characterization of Tactors Used in Vibrotactile Displays Date of download: 11/11/2017 Copyright © ASME. All rights reserved. From: Characterization of Tactors Used in Vibrotactile Displays J. Comput. Inf. Sci. Eng. 2008;8(4):044501-044501-5. doi:10.1115/1.2988384 Figure Legend: Oscillation frequencies measured for each of the encased motors. Each line on the x-axis represents a different motor, and each shape on the y-axis shows the frequency of the motor’s oscillation for a single trial. The motors are rank ordered by their mean frequency.

From: Characterization of Tactors Used in Vibrotactile Displays Date of download: 11/11/2017 Copyright © ASME. All rights reserved. From: Characterization of Tactors Used in Vibrotactile Displays J. Comput. Inf. Sci. Eng. 2008;8(4):044501-044501-5. doi:10.1115/1.2988384 Figure Legend: Peak forces measured for each of the encased motors. Each line on the x-axis represents a different motor and each shape a different trial. The numbering is the same as that in Fig. .

From: Characterization of Tactors Used in Vibrotactile Displays Date of download: 11/11/2017 Copyright © ASME. All rights reserved. From: Characterization of Tactors Used in Vibrotactile Displays J. Comput. Inf. Sci. Eng. 2008;8(4):044501-044501-5. doi:10.1115/1.2988384 Figure Legend: Relation between peak forces produced by a motor and the oscillation frequency for unencased (circles) and encased (triangles) motors. The best-fit equation is also shown.

From: Characterization of Tactors Used in Vibrotactile Displays Date of download: 11/11/2017 Copyright © ASME. All rights reserved. From: Characterization of Tactors Used in Vibrotactile Displays J. Comput. Inf. Sci. Eng. 2008;8(4):044501-044501-5. doi:10.1115/1.2988384 Figure Legend: Stress-strain curves for five samples of pig skin, and a sample of Skinsim (thick black line)–a silicone rubber fabricated to have similar material properties to skin

From: Characterization of Tactors Used in Vibrotactile Displays Date of download: 11/11/2017 Copyright © ASME. All rights reserved. From: Characterization of Tactors Used in Vibrotactile Displays J. Comput. Inf. Sci. Eng. 2008;8(4):044501-044501-5. doi:10.1115/1.2988384 Figure Legend: Mean oscillation frequency (ten trials) of tactors mounted on the impedance head (rigid surface) and Skinsim (compliant surface). The least-squares regression line is shown together with the equation.

From: Characterization of Tactors Used in Vibrotactile Displays Date of download: 11/11/2017 Copyright © ASME. All rights reserved. From: Characterization of Tactors Used in Vibrotactile Displays J. Comput. Inf. Sci. Eng. 2008;8(4):044501-044501-5. doi:10.1115/1.2988384 Figure Legend: Acceleration produced by each of the two motors as a function of input voltage

From: Characterization of Tactors Used in Vibrotactile Displays Date of download: 11/11/2017 Copyright © ASME. All rights reserved. From: Characterization of Tactors Used in Vibrotactile Displays J. Comput. Inf. Sci. Eng. 2008;8(4):044501-044501-5. doi:10.1115/1.2988384 Figure Legend: Amplitude of the surface wave on the Skinsim at various distances from the activated motor for three encased motors