PROBLEM TO BE SOLVED: To provide a force presentation device, a force presentation method and a force presentation program capable of independently estimating a force applied to a bio-tube by an insertion member to present a tester on the basis of force information measured outside the body.SOLUTION: When an operator 6a inserts an insertion member 2a into a bio-tube 3, a force measurement section 1 measures a force applied to entire of the bio-tube 3 or independently applied to the bio-tube 3 by the insertion member 2. A determination section 27 determines a piece of information to be presented to a tester on the basis of the force measured by the force measurement section 1. A force presentation section 18 presents the force to the tester on the basis of the determined information.COPYRIGHT: (C)2014,JPO&INPIT【課題】体外から測定した力情報に基づき、挿入部材から生体管にかかる力を個別に推定して、体験者に提示する力呈示装置、力呈示方法、並びに、力呈示プログラムを提供する。【解決手段】術者6aが生体管3に挿入部材2aを挿入する際に、挿入部材2が生体管3全体に加える力又は生体管3に個別にかかる力を力測定部1で測定し、力測定部1で測定した力に基づいて、決定部27により体験者に呈示する情報を決定し、決定された情報に基づき、体験者に力を力呈示部18で呈示する。【選択図】図2
