Case study: Effect of asymmetry of vibration on the perceived illusion force

The illusion force perceived by exciting asymmetric vibration has been studied, and the kinesthetic effect is recently clarified to be largely influenced by the asymmetry of the excited vibration waveforms. However, it has not yet been investigated how the extent of asymmetry influenced the perception of the illusion force. In this study, the effect of the asymmetry of the input vibration waveform on the extent of induced traction force was experimentally investigated by changing the extent of asymmetry that is controlled by the summation order of Fourier series expansion of the original waveform. As a result, it was confirmed that the extent of induced traction form increases as the extent of asymmetry of the actuated sawtooth waveform increases up to the summation order of 3; however, the induced traction form does not increase in case of n of over 4.