Wearable 3DOF Substitutive Force Display Device Based on Frictional Vibrotactile Phantom Sensation

  • Ryota NakagawaEmail author
  • Kinya Fujita
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 277)


We have developed a substitutive three-degree-of-freedom force display device that is wearable on the fingertips. This device utilizes vibrotactile phantom sensation (VPS) and substitutes normal and tangential forces by using the VPS magnitude and position displacement. The device has five voice-coil actuators that produce oscillatory friction force to generate VPS. The adoption of friction force oscillation realized 8.5 mm thickness at the finger pad and 13.2 g weight.


Substitutive force display 3DOF Phantom sensation 


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Copyright information

© Springer Japan 2015

Authors and Affiliations

  1. 1.Graduate SchoolTokyo University of Agriculture and TechnologyKoganeiJapan

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