仮想なぞり装置の設計と基礎実験

概要

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In this paper, we study the first step of the clarification of the haptic recognition mechanism, and propose a new virtual tracing device which is movable freely by our fingers and also has no attachment at the finger rest which we usually call "fairy chair". The device proposed here is made up of a mechanism movable freely by small force of our one finger, and the finger rest of the device uses a four-bar linkage mechanism that is movable vertically up and down being controlled by a DC servo motor. First we show the mechanism of our new virtual tracing device in detail, and explain the control system of the virtual shape generator and the mechanical impedance generator by using the block diagram. Next we show the experimental results of the device from the viewpoint of mechatronic engineering and human active recognition by haptic senses.
日本バーチャルリアリティ学会の論文
2001-09-30