Impulsive resistance force generated using pulsive damping brake of DC motor

We developed a method to present an impulsive resistance force by using the passive damping brake of a DC motor. The rapid pulsive change in the resistance forces preceding the main brake increased the perceived resistance of the brake. In a ranking task involving five naive participants, a damping brake with two preceding pulsive resistances was reported to deliver a resistance larger than that due to a simple stepwise brake that achieves the maximum physical braking force. This finding indicates that perceptually effective impulsive resistances are different from the physically optimal resistance. Our technique enhances the abilities of passive force displays, which are inherently safe human-machine interfaces.