Summary:

This paper describes a 1 dof sensor and haptic display system.

The sensor system detects hardness and temperature using specially designed devices. The 
hardness is estimated by calculating Yong's modulus of an object using a device composed 
of spring and linear encoder. Temperature is measured using a thermist.

The display system gives the user the information on temperature and hardness measured by 
the sensor system. The hardness is displayed using a device composed of DC motor and 
rotational encoder. The temperature is displayed using a peltier device

The result shows the subjects can distinguish 3 types of hardness regardless of 
temperature.

Comments:

1. Several typos such as "a object," "between user," and "two sensor."
2. Too small letters in Figures
3. The way of measuring strain to calculate Young's modulus is not clear.
4. The performance of the sensor system is not well presented (such as signal to noise 
ratio).
5. What arethe potential applications of this type of system?
6. Is the peltier device fast enough to show the temperature change from the sensor 
system?
7. Is there any time delay between the sensor and display system since the two system 
communicates each other using network.
8. There is no results or plots shown on how well the developed sensor system and display 
system works.

Overall: It is nice to design and realize a complete system which can sense and display 
in two different (physically remote) locations. However, There is not much novel designs 
or ideas. It is no more than integrating different commercial sensor and actuation 
devices.