Conditions of force scaling methods based on human perception abilities for displaying time-variant force

When scaling methods are used in master-slave systems, it is necessary to take human abilities into account for getting important information precisely. On the other hand, master-slave systems should display information so that users can operate the systems with a naturally. For considering these problems, this paper focuses on force perception abilities for time-variant force. The measurement results support an intuitive conjecture that humans are sensitive to stimuli which change rapidly. Some conditions are derived from the measurement results.