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This paper presents a novel ungrounded force feedback device which makes a user feel a sensation as if a pulling force is displayed by utilizing non-linear characteristics of human perception. The force feedback device is mainly composed of a spring-mass system and a voice coil motor (VCM). A weight, which connects to the VCM through the spring, hits against a wall periodically to generate a one-directional impulsive force. Then, a user grasping the device perceives the pulling force to the designed direction despite a real constant force is not displayed. The device is 140 x 41.5 x 41.5 mm 3 with total mass of 230 g. A sensitivity of the pulling force perception were evaluated and presented in this paper.

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