An ungrounded pulling force feedback device using periodical vibration-impact

Takuya Shima, Kenjiro Takemura

Research output: Contribution to journalConference articlepeer-review

7 Citations (Scopus)


This paper presents a novel ungrounded force feedback device which is capable of making the user confuse as if a pulling force is displayed by utilizing non-linear characteristics of human perception. The force feedback device is mainly composed of a spring-mass system and a voice coil motor. By hitting a weight against a wall periodically, the device generates a vibration impact to the user. The device is 140 x 41.5 x 41.5 mm3 with total mass of 230 g. A sensitivity of the pulling force perception are evaluated and presented in this paper.

Original languageEnglish
Pages (from-to)481-492
Number of pages12
JournalLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume7282 LNCS
Issue numberPART 1
Publication statusPublished - 2012
EventInternational Conference on Haptics: Perception, Devices, Mobility, and Communication, EuroHaptics 2012 - Tampere, Finland
Duration: 2012 Jun 132012 Jun 15


  • Impulsive force
  • Pulling force
  • Spring-mass system
  • Sympathetic vibration
  • Ungrounded feedback device

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


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