Abstract
An ordinal force-feedback device mainly employs an electromagnetic motor(EMM), and it is excellent in the expression of an elastic feeling. However, it is not easy to express the sense of hardness and roughness. An actuator system(AS) using multilayered piezoelectric actuators has a characteristic which is contrary to AS using EMM. The objective of this study is the development of ideal actuator system for a haptic display. In this paper, a hybrid actuator system combining an EMM with a piezoelectric motor was proposed and examined. As a results, it was confirmed to be able to express hardness and softness by changing the combination of actuators.
