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

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.