Force Characteristics to Reproduce Writing Pressure Introduction of Writing Task Characteristics into Virtual Reality

In this study, we used a force-sensing device to measure the threshold and subjective equivalence points of tactile perception of frictional force. We were able to determine the correlation with the actual tactile sensation by measuring the correlation between the friction force presented by the force-sensing device and the value set by the PHANToM. When friction is presented by a force sensing device, it is observed that a force above approximately 0.3 [N] is the value at which the user can determine the difference. The PHANToM DeskTop used in this study is a pen-type force-sensing device, and the force sensation is presented through the hand that holds the pen. Therefore, it is not a surface sensation felt only through direct contact with the skin on the hand, but a deep sensory characteristic that is felt by the entire hand. This method can also be applied to the paper-mediated systems. In the future, we aim to analyze the sensory characteristics of devices other than the pen-type and to verify the differences and compatibility of the sensory characteristics presented by those devices.