  This paper proposes a novel concept of a hybrid tactile display with
multistimulus feedback, allowing the real-time experience of the position,
shape, and texture of the virtual object. The key technology of the TeslaMirror
is that we can deliver the sensation of object parameters (pressure, vibration,
and electrotactile feedback) without any wearable haptic devices. We developed
the full digital twin of the 6 DOF UR robot in the virtual reality (VR)
environment, allowing the adaptive surface simulation and control of the hybrid
display in real-time. The preliminary user study was conducted to evaluate the
ability of TeslaMirror to reproduce shape sensations with the under-actuated
end-effector. The results revealed that potentially this approach can be used
in the virtual systems for rendering versatile VR shapes with high fidelity
haptic experience.
