Subjective sensation and force characteristics of electrical muscle stimulation due to waveform changes

Electrical muscle stimulation (EMS), which has been often used in the medical field, such as rehabilitation, has also come to be used as a haptic feedback technique. However, electrical muscle stimulation has a unique sense of electricity and pain. We aim to suppress this undesired sensation by changing the electrical muscle stimulation waveform. This study investigated the change in sensation due to the electrical muscle stimulation waveform change and describes the results. Further, we evaluated the subjective sensation of force by comparing the sensation with physical force.