3`T`T @@@ @@@@})RTT EN DB T     & ./ Glassmire2006 AuthorsJournalsKeywords                                 Glassmire, John  llhvfhd, haptic, display, tactile, ultrasonic, squeeze film, fingertip haptics, friction, variable friction jGlassmire, John 2006<6Study and Design of a Variable Friction Haptic DisplayMechanical Engineering  Evanston, IL Northwestern Universitya75Master's VFHDnhvfhd, haptic, display, tactile, ultrasonic, squeeze film, fingertip haptics, friction, variable frictionThis thesis deals with the design, analysis, and construction of a Variable Friction Haptic Display (VFHD) based on the principle of squeeze films. The primary function of the device is texture synthesis. A user can interact with the VFHD and feel variable friction on the 1.5 X 2.25 inch 2-D surface. The squeeze film is generated by an array of 6 piezoelectric, Langevin actuators. The finger position is fedback via a passive, modified pantograph. The novel contribution of the work is the incorporation of finger position feedback into the control of the device. The VFHD is good at displaying sharp transitions in friction and can simulate many textures.NHhttp://lims.mech.northwestern.edu/papers/glassmire06/GlassmireMaster.pdf'D>http://lims.mech.northwestern.edu/students/glassmire/index.htm