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possesses the nonlinearity, and is guessed to origi-

nate in the equal volume transformation of the

resin from the shape. Figure 10 shows the stiffness

change when assuming 0.0 ≤ δx ≤ 12.0 [mm]. Here,

it can be confirmed that the stiffness value has

changed by compressing x axially. Moreover, it can

be confirmed that the deeper amount z of pushing

is, the bigger the stiffness change is.

4.3 Verification of the softness control

The discrimination test has been conducted to con-

firm whether the sense of touch changed by the

proposed principle. In the examination, subjects

identified the difference of softness by a different

compression distance ...