1A1-C12 遠隔力通信装置を用いたハイブリッドモデルとインピーダンスモデルの性能比較

概要

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Recently, owing to the Internet technology, it becomes much easier to convey one's feeling to separately-placing people by voice and screen image. Now, haptic, i.e. force sensation, interface has been studied actively as a new-generation communication tool. This paper describes a performance comparison of a hybrid model with an impedance model, by using our handmade haptic interface of a parallel-linked type. In order to estimate these properties, we performed teaching task, in which an experimenter taught subjects writing motion of hiragana letter; one has more than two stroke counts and distinctive curves. The hybrid model consists of position-servo control and force-servo control quantity; alignment of the distribution rate enables to control the property. Meanwhile, the impedance model is based on force-servo control, in which, simultaneously, a virtual dynamics is established for position restraint. The result shows the impedance model had better performance; furthermore, it's preferable to increase spring constant unless the system occur vibration for stable operation. Since this system is a master/master system, the experimenter's feeling that a subject might understand a target letter, was transmitted to the subject.