In this report, we describe the device development and considerations on the device-design guidelines based on the results of a user evaluation. The experimental results suggested that the method of expressing partial differences in hardness is effective as a guideline for designing hardness-presenting devices. In addition, it was found that subjects can perceive relative differences in the hardness between the virtual spring presented by the developed device and the real spring within a certain range of spring constant. By using the developed device, it was confirmed that subjects can distinguish the difference between the lateral shapes of virtual cylinders, hexagonal columns, and quadrangular prisms. ![]() As part of it, we developed a haptic device that presents the three-dimensional shape and hardness of virtual objects. ![]() This research aims to realize a service to convey haptic information that is hard to represent by video and sound, such as the hardness or texture of an object. Development of a Haptic Device that Presents Information on Three-dimensional Shape and Hardness of a Virtual Object in Space
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