All-in-One Haptic Thimble for Vibration, Pressure, and Thermal Feedback: Investigating the Impact of Vibration Frequency on Thermal Perception

This paper presents a novel multimodal fingertip actuator that provides simultaneous pressure, vibration, and thermal feedback for enhanced haptic experiences in virtual reality (VR). The actuator integrates a dual-layer silicone structure for tactile feedback with thermal fabric elements, ensuring lightweight, flexible, and ergonomic usability. Pneumatic actuation delivers precise pressure and vibration responses, while a PID-controlled heating mechanism enables realistic thermal sensations. Systematic characterization demonstrates effective force, frequency, and thermal response dynamics. A case study explores the influence of vibration frequency on thermal perception, revealing that perceived thermal intensity remains unaffected by vibration, whereas comfort levels vary with temperature. Additionally, a user experience evaluation confirms the actuator's capability to enhance immersion and realism in VR applications, with findings showing a significant improvement in user experience when thermal feedback is incorporated. This multimodal actuator offers promising applications in VR training, medical simulations, and haptic interfaces, bridging the gap between physical and virtual environments.