Substituted force feedback using palm pressurization for a handheld controller

Abstract

This paper describes application of force substitution using pressure stimulation on palm to a handheld controller. The prototype controller has two stimulators driven by voice coil motors to press user’s both palms separately so that it can represent 2-DoF information, such as force and torque. As a demonstration, a virtual tank operation with first person view was implemented. By providing the pressure stimuli corresponding to the posture of the tank, the user can get intuitive information of the virtual terrain, such as slopes and bumps.