抄録
Grounded force-display systems generally suffer the difficulty of workspace restriction. On the other hand, if we utilize an illusion on a sense of contact force, a wearable non-grounded force display system would be developed much easier than without utilizing the illusion. We found an interesting phenomenon, i.e., a kind of illusion from an experiment using a prototype device: a majority of subjects perceive a biased force in either direction even though, facing each other on both sides of a forearm, two sets of external forces are applied to the forearm in equal strength. As for the factors of the phenomenon with the baresthesia, i.e., the sense of pressure, we considered the area effect and the adaptation one. In order to examine the mechanism of this phenomenon, we carried out some experiments to investigate fundamental characteristics with each of the factors. Then, we, furthermore, did some extended experiments where the both factors are mixed, and showed that the baresthesia is well explained by the fundamental characteristics.
