Abstract
This paper describes a haptic device, aimed at presenting the sense that a forefinger traces an object and made up of nonmagnetic metal and a permanent magnet. We make the experimental model which is composed of a high speed camera and motorized linear stages and which changes the produced force by controlling the velocity of motorized linear stages which are mounted magnets. In addition, we measure the generated force with a load cell in order to verify that an experimental model can generate force in accordance with theory.
