インピーダンス生成回路を利用したハプティクインターフェース : 静止した剛体表面の提示

概要

論文の詳細を見る
Keeping haptic interface stable is one of the most important issues for haptic interface, because haptic device has direct contact with operators. Virtual environment is discretely calculated in computers and the discrete-time system adversely influences stability. In this paper, we propose a new haptic interface with a device which realizes spring and damper effect by an electric circuit. The springs and dampers can continuously generate impedance on the tip of the haptic device. We propose utilizing the continuous time impedance for haptic interface to decrease the influence of the sampling period. We discuss the composition of electric circuit and analyze the stability of the proposed method when it is applied to 1-DOF display. Finally, we perform some experiments with a two dimensional haptic display device to show the effect of the proposed method.
一般社団法人日本機械学会の論文
2001-11-25