@article{oai:iwate-u.repo.nii.ac.jp:00010364,
 author = {曽根, 順治 and 河村, 博行 and 衣川, 弘二 and 徳山, 喜政 and 今野, 晃市},
 issue = {4},
 journal = {日本バーチャルリアリティ学会論文誌},
 month = {Dec},
 note = {Two haptic displays for virtual reality have recently been developed: one is an earth-grounded type, and the other a body-grounded type. There is now a great deal of research in this field, including work on a body-grounded type of device, a GyroCube, a moment-type display using a mechanical brake and a force display using a gyro moment. We have developed another kind of moment-type force display using a half-toroidal CVT (continuously variable transmission). In this paper, we report improvement the display weight and investigation of two dimensional display. And the human perception ability of direction has been confirmed by experiment.},
 pages = {557--560},
 title = {CVT機構を用いた2次元力覚提示システムの検討},
 volume = {11},
 year = {2006}
}