The design and implementation of ubiquitous haptic device

In this paper, we propose a new type of haptic device named "ubiquitous haptic device". In this idea, several devices in ubiquitous environment have a capability of displaying haptic sensation. And user can interact these devices via sensation of touch and force. This is same as handling the ordinary tools with the feedback of haptic sensation. And we construct simple prototype of ubiquitous haptic device, which has the capability of displaying the sensation of something inside the device. We present the way to construct the ubiquitous haptic device.