A system for displaying the operating feel while manipulating virtual objects which takes their dynamics into account is introduced. The display is realized using multiple link mechanisms. New concept of impedance display and two ways of its realization,•gmeasuring force and displaying motion •h and•gmeasuring motion and displaying force•h, are proposed. Calculation algorithms of driving input to the display device for the operation of both single-body and multi-body virtual objects are

more »

... hed. The validity of the proposed method is verified experimentally using a newly developed two-finger display device.