PROBLEM TO BE SOLVED: To provide systems, methods and computer readable media that provide an electrostatic force feedback (ESF) haptic effect perceivable by a user.SOLUTION: A system 100 includes a processor 102 configured to determine a haptic effect, the haptic effect including a static ESF effect or a confirmation ESF effect, and transmit a haptic signal associated with the haptic effect. The system also includes an ESF controller 120 in communication with the processor 102, the ESF controller 120 configured to receive the haptic signal, determine an ESF signal on the basis at least partly of the haptic signal, and transmit the ESF signal. The system 100 further includes an ESF device (haptic output device 118) in communication with the ESF controller, the ESF device (haptic output device 118) including an ESF cell and configured to receive the ESF signal and output the haptic effect.
SYSTEMS AND METHODS FOR MULTI-OUTPUT ELECTROSTATIC HAPTIC EFFECTS