1P1-D02 静電フィルムモータを用いたジョイスティック型2自由度ハプティックデバイスの試作

概要

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A 2-DOF haptic device using electrostatic film motors was fabricated for feasibility evaluation. The electrostatic motors used in the device are proved MR-compatible; hence, the device is intended for use in fMRI study, although the first prototype described in this paper is not fully MR-compatible. The haptic rendering of the device is done by admittance control, where a controller receives interaction force as an input and calculates position response that the device should follow. Then, the positioning of the device is done by open-loop position control, utilizing the synchronized behavior of the motors. This paper describes the setup and the control diagram of the prototype system, as well as evaluation results, which confirmed that the device could successfully render the intended haptic scene.
一般社団法人日本機械学会の論文