触・力覚の融合呈示(J22-1 センサ・アクチュエータシステムとその知能化(1),J22 センサ・アクチュエータシステムとその知能化-実環境で活躍するメカトロニクスを目指して)

概要

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Abstract In order to investigate effects on presentation tactile-haptic reality, the authors are developing a multi-modal display. In the present paper, we described configuration of the display and planning of experiments for evaluation. The present display was constituted of a manipulator, a gripping force display and tactile display. The manipulator has three servo motors to generate reaction force calculated from contact between a virtual object and the manipulator. The gripping force display had a micro AC servo-motor to generate virtual grasping force. The gripping force display was equipped with two tactile displays on each finger to present distributed pressure. In the design for the tactile display, we developed a transformer for rearrangement of an array of stimulus pins. In verification test, we will measure time consumption to complete peg-in-hole tasks and deferential threshold obtained from perform psychophysical experiments.
一般社団法人日本機械学会の論文
2004-09-04