Inner force sense presentation device, inner force sense presentation method, and inner force sense presentation program

A force feedback apparatus comprising:

• a jetting unit that includes nozzles and that is configured to control a jet amount or a jet direction of gas or liquid jetted from the nozzles;
• and
• a jet control unit configured to control the jet amount or the jet direction of the gas or the liquid according to a position or an orientation of a receiver that has a hemispheric shape and that is configured to receive a pressure by the gas or the liquid jetted from the jetting unit so as to provide force feedback to an operator, wherein
• the position or the orientation of the receiver is measured by a receiver measurement unit,
• the nozzles are arranged in equilateral triangles in the jetting unit, and when the receiver has a concave shape of a diameter D, intervals for placing each of the nozzles in the jetting unit are set such that at least one nozzle exists within a region having a diameter of 0.8×D to exert an even pressure on the receiver at nozzle transitions,
• the receiver is separated from a surface on which the nozzles that form the equilateral triangles are arranged, and
• the gas or the liquid is jetted towards the receiver from the nozzles that form the equilateral triangles.