NOBUNAGA: Multicylinder-Like Pulse Generator for Kinesthetic Illusion of Being Pulled Smoothly

  • Tomohiro Amemiya
  • Taro Maeda
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5024)


We have proposed a force perception method based on asymmetric oscillation that exploits the characteristics of human perception. Our previous findings indicate that the pulse frequency determines the effective generation of the kinesthetic illusion of being pulled. However, whether pulse frequency or pulse width for force perception has not been clarified. If the pulse width is more dominant, the force sensation induced by sequential pulses will be more continuous. This is important because many of those who have experienced the asymmetric oscillation pointed out that the force sensation induced by the stimuli was not felt smoothly compared to physical force. This paper describes the design and development of a new multicylinder-like mechanism for generating sequential pulses, which should enable us to determine which is dominant for force perception.


continuous force sensation nongrounding illusion sequential pulse 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Biggs, S.J., Srinivasan, M.A.: Haptic Interfaces. In: Stanney, K. (ed.) Handbook of Virtual Environments, pp. 93–116. Lawrence Erlbaum, Mahwah (2002)Google Scholar
  2. 2.
    Hayward, V., Astley, O.R., Cruz-Hernandez, M., Grant, D., Robles-De-La-Torre, G.: Haptic interfaces and devices.  24(1), 16–29 (2004)Google Scholar
  3. 3.
    Massie, T.H., Salisbury, J.K.: The PHANToM Haptic Interface: A Device for Probing Virtual Objects. In: Proc. of the ASME Winter Annual Meeting, Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, vol. 55(1), pp. 295–300 (1994)Google Scholar
  4. 4.
    Sato, M.: SPIDAR and Virtual Reality, World Automation Congress, IFMIP-043, pp. 1–7 (2002)Google Scholar
  5. 5.
    Gurocak, H., Jayaram, S., Parrish, B., Jayaram, U.: Weight Sensation in Virtual Environments Using a Haptic Device With Air Jets. Journal of Computing and Information Science in Engineering 3(2), 130–135 (2003)CrossRefGoogle Scholar
  6. 6.
    Hirose, M., Hirota, K., Ogi, T., Yano, H., Kakehi, N., Saito, M., Nakashige, M.: HapticGEAR: The Development of a Wearable Force Display System for Immersive Projection Displays. In: Proc.of Virtual Reality Conference, pp. 123–130 (2001)Google Scholar
  7. 7.
    Yano, H., Yoshie, M., Iwata, H.: Development of a Non-Grounded Haptic Interface Using the Gyro Effect. In: Proc. of HAPTICS, pp. 32–39 (2003)Google Scholar
  8. 8.
    Tanaka, Y., Masataka, S., Yuka, K., Fukui, Y., Yamashita, J., Nakamura, N.: Mobile Torque Display and Haptic Characteristics of Human Palm. In: Proc. of International Conference on Augmented Tele-existence, pp. 115–120 (2001)Google Scholar
  9. 9.
    Amemiya, T., Ando, H., Maeda, T.: Virtual Force Display: Direction Guidance Using Asymmetric Acceleration via Periodic Translational Motion. In: Proc. World Haptics Conference, pp. 619–622 (2005)Google Scholar
  10. 10.
    Amemiya, T., Kawabuchi, I., Ando, H., Maeda, T.: Double-layer Slider-crank Mechanism to Generate Pulling or Pushing Sensation without an External Ground. In: Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2101–2106 (2007)Google Scholar
  11. 11.
    Amemiya, T., Ando, H., Maeda, T.: Directed Force Perception When Holding a Nongrounding Force Display in the Air. In: Proc. of EuroHaptics, pp. 317–324 (2006)Google Scholar
  12. 12.
    Amemiya, T., Ando, H., Maeda, T.: Hand-held Force Display with Spring-Cam Mechanism for Generating Asymmetric Acceleration. In: Proc. of World Haptics Conference, pp. 572–573 (2007)Google Scholar
  13. 13.
    Nagae, E., Nozaki, T., Amemiya, T., Ando, H., Maeda, T.: Design for Force Display by Two-way Asymmetric Acceleration With Spring-Cam Mechanism. In: Proc. of Virtual Reality Society Japan Annual Conference, 1D2-6 (2007) (in Japanese)Google Scholar
  14. 14.
    Amemiya, T., Maeda, T., Ando, H.: Location-free Haptic Interaction for Large-Area Social Applications, Personal and Ubiquitous Computing, vol. 12. Springer, Heidelberg (2008)Google Scholar
  15. 15.
    Amemiya, T., Ando, H., Maeda, T.: Lead-Me Interface for a Pulling Sensation from Hand-held Devices. ACM Trans. on Applied Perception 5(4) (2008)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  • Tomohiro Amemiya
    • 1
  • Taro Maeda
    • 2
  1. 1.NTT Communication Science LaboratoriesNTT CorporationJapan
  2. 2.Graduate School of Information Science and TechnologyOsaka UniversityJapan

Personalised recommendations