内力・外力分離型介在インピーダンスを用いた仮想物体把持の力覚提示

概要

論文の詳細を見る
In this paper, we discuss haptic display for 1-DOF(Degree-Of-Freedom) grasping a virtual object by two fingers. Much research has been done on fundamental analysis for stability of haptic display. But it is difficult to apply the results immediately to grasping situations by two fingers, since the studies deal with a single device and a single object. This is because the fingertip force in grasping situations has two components, internal and external force. The conventional methods, which calculate the coupling impedance at each contact point separately, have no other alternative but to calculate the impedance mixing the components for internal and external force. So even if only the impedance for external force should be changed, the impedance for internal force is also changed at the same time. In this paper, we propose a new method, in which the coupling impedance is calculated separately for internal and external force. Second, we discuss the stability of the proposed method and compare with the conventional method. Then, we perform some experiments to confirm the effects of the proposed method.
日本バーチャルリアリティ学会の論文
2001-03-31