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When we teach skills related to hand motion such as calligraphy, it is important to instruct the motion of the arm. Haptic cues is superior to visual cues since they can directly tell the motion. However, previous works had tradeoff between “directness” and “proactiveness”, If vibratory cues are presented, the user must interpret the vibration, which is not perfectly direct. If, on the other hand, the hand is pulled, the resultant motion is direct, but it is a passive motion so that the users do not acquire the motion as their own skill. To solve this contradictory condition, we proposed to present “pseudo pulling force sensation” by tangential skin deformation. In this paper, we made the system compact, and improved the attachment part so that the pulling sensation is generated stably.

1A2-E03 The prototype that presents pulling sensation by stimulation to the forearm skin