In recent years, researches on wearable haptic feedback device have been increasing as a method for further improving the sense of immersion of an operator. However, when presenting both force and tactile sensation, the range of necessary presentation power and frequency characteristics is wide and it is difficult to present with a single actuator. Therefore, in this paper, as a preliminary stage of developing a wearable haptic feedback device, we propose and develop a device that can simultaneously present force and tactile sensation using multiple actuators with different frequency characteristics. From the results of confirming the operation with the developed device, it was confirmed that multiple haptic of viscous, tactile, elasticity can be presented at the same time.
