Abstract
For designing a simple and more realistic haptic feedback system, we propose integrating an underactuated mechanism with one-point kinesthetic feedback from the arm with multipoint tactile feedback. By focusing on the division of roles between the cutaneous sensation in fingers and the proprioception in the arm. We have implemented a prototype system that provides kinesthetic feedback to the arm and tactile feedback to the fingers, examined the difference of weight recognition according to the applied point of kinesthetic feedback, and confirmed the effectiveness of the proposed method.