In recent years, with the development of Virtual Reality (VR) technology such as Head Mounted Display (HMD), the importance of technology to reproduce the sense of touch in VR space has increased, and various haptic devices have been proposed. On the other hand, there are some problems in presenting force sensation in VR space, such as the size of the device. We have proposed a method of presenting force sensation by using a device equipped with a vacuum brake on an omni-directional vehicle. In this paper, we report experimental results of the force sensation subjectively felt by the subject at different duty ratios when the solenoid valve is PWM controlled.
