With the development of the internet and the availability of sufficient bandwidth, the performance of haptic devices is considered important because device specifications directly determine the comfort of wearing and the tactile sensations that can be transmitted. The Funabot-Grab is a haptic device that evokes a grabbed tactile sensation. Funabot-Grab can exert a tightening force by controlling the air pressure applied to the artificial muscles. There are seven artificial muscles on the fabric, and the tightening force of each artificial muscle is controlled independently. In a previous study, we used a model arm to incorporate Funabot-Grab into a tactile transmission system with the aim of using it as a tactile internet device. We conducted a preliminary experiment with three subjects as a precursor to the full-scale experiment. It was found that it is possible to transmit the static contact force and its position, even to the subjects. However, it became clear that further improvements to the device are needed for it to be worn optimally on every human body, considering the large degree of individual variation, and to evoke a smoother, continuous tactile sensation.

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