Abstract
This paper describes the development of a dynamic force display device using pneumatic bellows actuators to display dynamic force sensation for the operating human being from real or virtual environment. Static characteristics of the pneumatic bellows actuator are experimentally and theoretically investigated. It is also experimentally investigated that the force sensation is applied on the operator's fingers by the prototype of the dynamic force display device using the four pneumatic bellows actuators. We demonstrate the dynamic force feedback system for grasping virtual solid objects in a virtual environment of 3D computer graphics. The operator can interactively communicate the virtual object in the computer world.
