Abstract
This paper describes the development and evaluation of a mobile torquefeedback device, the GyroCube, not based on the earth ground support. Using three orthogonal motors, torque of any desired direction and magnitude is generated by controlling the acceleration of the rotation of the motors simultaneously. The effectiveness of the device as a wearable torque display is confirmed by two types of experiments: the objective measurement of the output torque, and the subjective measurement by twenty participants.
