Review of the manuscript,
1 DOF Sensor and Display system of Haptic and Temparature Sensation, Hiroaki Yano et. al.

1. General comments (Summary)

In this manuscript, Hiroaki Yano et. al. report on a 1DOF sensor & display system that 
relays hardness and temperature simultaneously. The sensor system consists of a 
thermistor to sense temperature and a linear encoder with force sensor to sense the 
hardness, that is related to Young?s modulus. The display system consists of a linkage 
which rotates about a horizontal axis to provide the user with a small pushing motion, 
and an open-loop controlled peltier device as a temperature display.

6 male-subjects wearing an eye-mask and headphones tried to answer which stimulus was 
hard among 0.4, 1.5, and 0.2 kg/cm which all have different temperatures, for 72 trials. 
As a result, all subjects distinguished the hardness differences in spite of different 
temperatures. The authors conclude that temperature does not affect the sense of 
hardness, and the system?s operational capability was confirmed.

This experiment is not complete enough to draw the conclusions the authors arrived at. 
They do not conduct any experiments to show that this system can display temperature. In 
addition, they may need to do additional experiments to show the sense of temperature is 
not affected by the hardness difference. This is because their system is a device to 
sense and display hardness and temperature SIMULTANEOUSLY. With just the result of this 
experiment, it was rather preliminary to conclude that their system?s capability was 
confirmed.


2. Specific comments

Fig.1 : Description for overall system, detailed information on network system is missing.
Fig.4 : The authors need to let us know what the preference ratio on the Y-axis means. It 
should be presented using engineering expressions like equations.