Development of Force Display Using Pneumatic Actuators for Efficient Conveyance of Emotion

The purpose of this study is to investigate the use of a haptic device to convey emotion through the haptic presentation of gripping. A detailed study into how the intensity of the grip alters the emotions communicated has not been conducted, although gripping is used to convey emotion. In this study, we developed a device for haptic presentation by gripping, and conducted an experiment (N=17) to investigate whether the emotions conveyed by the device changed when the force was varied. The results showed that the magnitude of force, speed, and presentation pattern affected valence and arousal. The results also indicated that not only anger and disgust, but also surprise and happiness can be effectively communicated through this method.