In this study, we aim to establish a novel system for manipulating the sensation of hardness and softness using a touch panel in augmented reality (AR) space. Many studies of touch panel-based haptic displays have developed methods for manipulating macro-roughness (shape), fine-roughness (texture), and friction. However, few studies have examined the sensation of softness. We have developed a device capable of presenting unidirectional tangential reaction force functioned as a sufficient cue for the sensation of softness previously, and we combined this with a visual cue for softness, adding visual shadow to the display of the virtual image generated by a half-mirror, which indicated visual deformation of the object. In this paper, we aim for the proposal and development of a device which enables presentation of tangential reaction force of 2-DoF.
