  Haptic displays play an important role in enhancing the sense of presence in
VR and telepresence. Displaying the tactile properties of fabrics has potential
in the fashion industry, but there are difficulties in dynamically displaying
different types of tactile sensations while maintaining their flexible
properties. The vibrotactile stimulation of fabrics is an important element in
the tactile properties of fabrics, as it greatly affects the way a garment
feels when rubbed against the skin. To dynamically change the vibrotactile
stimuli, many studies have used mechanical actuators. However, when combined
with fabric, the soft properties of the fabric are compromised by the stiffness
of the actuator. In addition, because the vibration generated by such actuators
is applied to a single point, it is not possible to provide a uniform tactile
sensation over the entire surface of the fabric, resulting in an uneven tactile
sensation. In this study, we propose a Pinching Tactile Display: a conductive
cloth that changes the tactile sensation by controlling electrostatic
adsorption. By controlling the voltage and frequency applied to the conductive
cloth, different tactile sensations can be dynamically generated. This makes it
possible to create a tactile device in which tactile sensations are applied to
the entire fabric while maintaining the thin and soft characteristics of the
fabric. As a result, users could experiment with tactile sensations by picking
up and rubbing the fabric in the same way they normally touch it. This
mechanism has the potential for dynamic tactile transformation of soft
materials.
