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This paper describes the design of a novel force perception method and the development of a handheld force display based on the method. The method is based on the nonlinear characteristics of human tactile perception; humans feel rapid acceleration more strongly than slow acceleration. The method uses periodic prismatic motion to create asymmetric acceleration leading to a virtual force vector. A prototype of the handheld force display that generates one-directional force using a relativelydoi:10.1145/1152399.1152436 dblp:conf/icat/AmemiyaAM05 fatcat:quh4echkcjeybfu3dznrlekb44