Abstract
Wearable force feedback device enables us to dynamically interact with virtual object while moving in wide virtual space. We have developed wearable force feedback device with variable viscoelastic elements; pneumatic artificial muscles and MR brakes. These mechanical elements show quick response by feed-forward control and high power density. In this paper, we tackled on weight saving of the device, and measured basic property again. Afterward, we evaluated whether a subject can distinguish when rendered different frictional force or elastic force. The subject was rendered one of five grade force, and replied which grade that was. A percentage of correct answers were lower at rendering elastic force. This is because the reaction force was change with angular displacement. In addition, the percentage didn't change respect to fixed state and wearing state. The subject could recognize the difference in the size of the force though the device was loaded.
