遠隔力感覚コミュニケーションにおける基礎的なシステム構成法と感覚面からの基本評価(機械力学,計測,自動制御)

概要

論文の詳細を見る
Multimedia services such as an audio and visual media have been advanced rapidly. And now we can employ several multimedia services via the Internet in which audio and visual information is exchanged. In addition to them, physical force information is expected as the next multimedia service. However, there are several fundamental issues for interactive force telecommunication, which do not appear in the conventional teleportation. We study on basic issues of force telecommunication from human sensory aspect by using two haptic interfaces with 3' DOF that have an orthodox parallel linkage, and propose a hybrid control of Master/Slave system for force telecommunication between Human beings, which has position/force feedback loop directly. Results show that both hybrid and compliance control of Master/Slave System are suitable candidates for the force telecommunication system because both force and position serve functions are essential for the system. Moreover, recognition of an operator coordinate system is clarified to be important because of force communication strong interaction, which is discussed from human sensory aspect.
社団法人日本機械学会の論文
2009-04-25