仮想物体把持のための指先圧迫による擬似反力提示装置の開発(人工現実感)

概要

論文の詳細を見る
This paper proposes a multi-finger pseudo-force-feedback device that induces tactile sense to each fingertip by its tightening. The compact and lightweight device design was realized by limiting the display sense to tactile only, in contrast to the conventional force-feedback devices stimulate both tactile and proprioceptive receptors by representing the reaction force. A prototype device that tightens the fingertip using geared motor was developed. The device was controlled with open-loop control architecture with high-voltage initial acceleration pulse in order to reduce the delay. The contact prediction algorithm was also implemented to reduce the influence of the delay. The experimental evaluation demonstrated that the influence of the delay is negligible in natural grasping, and the recognition is possible in wide range of object size.
2006-05-30