Control issues on haptic device control for virtual prototyping of power window switches are presented. A one degree-of-freedom haptic device was designed to display a virtual switch. The difference in the mass of a real switch and that of the haptic device was the main cause of the difference in the operational feeling. Dynamic equivalent mass was reduced by assisting the operational force. Hysteresis was also incorporated in the force-stroke curve. Sensory evaluation has verified that these control methods have enhanced the reality of the operational feelings of the virtual switch.
