This paper proposes a visuo-haptic feedback system that can provide haptic feedback to multiple users on an LCD monitor using electrostatic adhesion and built-in capacitive sensors. The prototype system consists of a 40-inch LCD monitor, an ITO electrode sheet arranged on the monitor, and multiple contact pads for electrostatic adhesion. By applying low-frequency haptic voltage and high-frequency sensing voltage to each pad, the system realizes passive haptic feedback, as well as position sensing using the same components. The passive haptic feedback force exceeds 1 N at 300 V  $_\mathrm{rms}$      . The performance of the sensing system is investigated in terms of interference, which shows the haptic voltage and existence of multiple pads can affect the sensing and can shift the output by a few millimeters. A pilot application, virtual hockey game, successfully demonstrates the sensing and haptic rendering capability of the proposed system. The effect of the interference on the demonstration is discussed.
['Taku Nakamura', 'Akio Yamamoto']
A Multi-User Surface Visuo-Haptic Display Using Electrostatic Friction Modulation and Capacitive-Type Position Sensing