Evaluation of size and shape perception in multi-finger haptic system

We have prototyped a multi-finger haptic system that makes it possible to present a virtual object that applies attractive force to three fingers and the palm of the right hand, and evaluated the user´s perception of the size and shape of an object. It was suggested from the results of a size experiment that the size perception can be conveyed more accurately by grasping the virtual object along with force feedback applied to the palm. We found from the results of a shape experiment that attractive force is mainly effective in the perception of tapering or curvature.