2P1-K04 マスタ・スレーブ型触感伝達システムの開発 : 第3報:多様な触感伝達のためのシステム設計

概要

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We aim at development of a master-slave system which can convey multiple tactile properties. This paper presents a system design to correspond with multiple tactile properties. There are three main problems to solve. The first problem is the display methods of multiple tactile sensations such as roughness, friction and pressure sensations. We propose tactile synthesizing methods based on physical parameters of objects and hand movement. The second is the tactile sensor for multiple properties. We propose a finger-pad-type tactile sensor that can estimate spatial wavelengths, friction coefficients and Young's moduli. The third problem is the time-delay between the master side and the slave side. We propose time-delay compensation methods that have local tactile generation models at the master- side.
一般社団法人日本機械学会の論文
2009-05-25