Dropping Sensation for Development of Lower Limb Force Feedback Device

In this study, we evaluate the dropping sensation for the development of a wearable lower limb force feedback device that can render both dropping and walking sensations. The developed device can render the dropping sensation at a smaller height than in reality by decelerating and stopping descent during the rendering of the drop image. Considering the user will be walking with the device, a smaller device height leads to better safety. The purpose of this study is to clarify the required specifications of the height of the vertical range of motion of the platform part, and the feasibility of the concept of rendering the dropping sensation. For this purpose, the dropping sensation for the difference in human acceleration time and human deceleration acceleration was evaluated. The results showed that the rendering of the dropping sensation required more than 0.41 s of descent at an acceleration of approximately 1377 mm/s2. Moreover, the dropping sensation and sense of reality were not impaired, even when the platform part of the foot was decelerated. This result indicates that the device can be made smaller.