2017 年 22 巻 1 号 p. 125-134
We here propose a device that can display a translational force and torque using two vibration speakers. Each vibration speaker generates an asymmetric vibration when a sound with an asymmetric amplitude is input. Asymmetric vibrations induce perceived forces that pull or push a user's hand in a particular direction. The user perceives a translational force and/or torque with his/her thumb and index finger based on the direction and amplitude of each speaker's force. We conducted four evaluation experiments to evaluate the mechanical properties and the proprioceptive sensations. As result, we confirmed that the proposed device can present the translational force with a maximum value of 0.5 N and the torque with a maximum value of 9.5 N·mm.