An Ungrounded Pulling Force Feedback Device Using Periodical Vibration-Impact

Takuya Shima, Kenjiro Takemura

Research output: Chapter in Book/Report/Conference proceedingConference contribution


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 × 41.5 × 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
Title of host publicationHaptics
Subtitle of host publicationPerception, Devices, Mobility, and Communication - International Conference, EuroHaptics 2012, Proceedings
EditorsPoika Isokoski, Jukka Springare
PublisherSpringer Verlag
Number of pages12
ISBN (Print)9783642314001
Publication statusPublished - 2012
Event8th International Conference, EuroHaptics 2012 - Tampere, Finland
Duration: 2012 Jun 132012 Jun 15

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume7282 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference8th International Conference, EuroHaptics 2012


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

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science


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