Properties of proprioceptive sensation with a vibration speaker-type non-grounded haptic interface

This paper describes the properties of sensations induced by a vibration speaker-type non-grounded haptic interface. We confirm that the vibration speaker generates a perceived force that pulls or pushes a user's hand in a particular direction when an asymmetric amplitude sound signal that is generated by inverting a part of a sine wave is input. We developed a prototype system and conducted evaluation experiments to evaluate the induced proprioceptive sensations. As a result, we confirmed that the system was able to control both the direction and magnitude of the reaction force by changing the input signal.