115 感覚の呈示度合を調整する力覚呈示指先キャップの開発(GS-15 ロボティクス・メカトロニクス)

概要

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In the environment where human cannot touch an object directly, such as in cosmic space, lowering of working efficiency is settled as a matter since their finger is covered by glove. In order to deal with this problem we have developed a force display equipment which can be installed at fingertip. In this equipment, force is applied on the abdominal part of a finger by expansion of a balloon made by silicone rubber. The inner pressure of the balloon is regulated by contact force mechanically without using both of a tactile sensor and a pressure control valve. Fundamental principal of the proposed equipment and force displaying property will be shown.
2004-03-17