Proposal and implementation of non-grounded translational force and torque display using two vibration speakers

Abstract

We here propose a device that can display a translational force and torque using two vibration speakers. Each vibration speaker generates an asymmetric vibration when a sound with an asymmetric amplitude is input. Asymmetric vibrations induce perceived forces that pull or push a user’s hand in a particular direction. The user perceives a translational force and/or torque with his/her thumb and index finger based on the direction and amplitude of each speaker’s force.