6軸直交型ロボットを用いたフォースフィードバックデバイスに関する基礎研究 : 人間の空間操作特性に対する順応型制御

概要

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This paper reports the 3D force feed back device for CAD system with the adaptable control for human characteristics. For the problem of unstable motor action of force feed-back device caused by disagreement of impedance between man and machine, the human friendly device is proposed with adaptive control using parameter tuning for device controller. One hypothesis of proportional relation between grasping force and muscle tension is discovered. The experimental result shows the unstable motor actions caused by higher muscle tension. From the hypothesis and experimental results, the system parameters are unfolded on grasping force, and an adaptive control method is described. As an evaluation experiment of proposed device, a comparison is examined among tracing-resistances of virtual surface and real surface (ice, steel, and wood), and shows smooth feeling rather than ice plate.
社団法人日本機械学会の論文
1997-01-25