2A2-A11 高精度のピボット動作のための力覚付きスティック型コントローラの開発(VRとインタフェース)

概要

論文の詳細を見る
We have developed a stick type controller with force sensation for precise pivot operation. We have newly designed the construction by combining parallel wire drive with 3 actuator units to connect to the upper edge of the stick, and link mechanism to fix the lower edge to move in one-dimension. To detect other two-dimensional translations, multidirectional force sensor was installed beneath the whole system. By introducing the Force Closure Theory, each actuator produced virtual restitution and realized precise angle resolution under 5mm. As the result of experiment, an examiner could produce totally 6 dimensional command by grasping and moving the stick. The controller is also thought to be possible to apply for training of medical skills or traditional writing.
一般社団法人日本機械学会の論文
2007-05-11