The purpose of this study is the development of safe and compact handy type haptic device. Conventional haptic device is constituted by motor and link. For this reason, it is difficult to miniaturize. Furthermore, when a system hangs up, that device has the danger which applies unusually large force on a user. Then, we considered applying the EAM to the haptic device. In the previous study, we have developed the rotary and linear type of brake which used the EAM. Applying them, we made a prototype handheld haptic device. That device can generate horizontal resistance force by the rotation type EAM brake and vertical resistance force by the linear type EAM brake.
