2A2-A03 マイクロマニピュレーションのためのPWM制御型吸込み/吹出しマスタ・スレーブシステム

概要

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In this paper, we show a performance of the suck-and-blow master-slave system for micro-manipulation. The system was proposed by authors. In the proposed system, we can generate the air flow at the tip of the micro-straw in the slave side according to operator's suck and blow in the master side. We measure the pulling and pushing force which are generated by the proposed system. We show results of the force measurement. the proposed system is constructed by simple mechanism and achieved a motion DOF like a straw. Moreover, by vibrating the straw at an operator's mouth according to the detected contact between the micro-straw and a micro-object, we also expect immersive feel as if the operator sucks or blows the micro-object directly with the straw.
一般社団法人日本機械学会の論文