Theory, Software, and Psychophysical Studies for the Tactile Handheld Miniature Bimodal Device

The intention of the work described in this report began as an exploratory effort to determine the basic principles and properties of the THMB device. The result of this experimentation is a description of the basic configuration and perceptual limits of the THMB device, terminology and theory to describe the output of the device, libraries that implement this theory, software that utilizes these libraries to interact with the THMB device, and two user studies, a speed study and a multi-dimensional scaling (MDS) study, that attempt to relate the terminology and theories developed to human perceptual limitations and capabilities.