Abstract
The force/tactile sensation (hereafter referred to as f/t sensation) has not been well defined for a long time. In the applications of real haptics, it is necessary to quantitatively evaluate the quality of the f/t sensation. The paper proposes the definition of f/t sensation as the stimulus signal. Accordingly, the instantaneous value of the stimulus signal of the f/t sensation represents the simultaneous ratio of the value of reaction force and the value of velocity. If the contact target is modeled as an inertia-damper-spring model, the stimulus signal of the f/t sensation is expressed as the equivalent circuit of the sum of the impedance (or admittance) and the voltage source (or the current source). The definition of the stimulus signal of the f/t sensation in frequency area clarifies the physical meaning. The paper presents the experimental results that confirm the viability of this novel definition on the stimulus signal of the f/t sensation.
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