2A1-B10 3-DOFパラレルメカニズムを有する力覚提示装置の開発(人間機械協調)

概要

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The purpose of this study is to develop and evaluate the haptic device, "Parallel Glove" which displays reaction force caused by contact of robots with work environment to a human operator's hand. The Parallel Glove is installed around a human wrist and employed for gesture interface systems. The proposed haptic device is designed to implement a 3-DOF parallel mechanism. The perceptive force of a human operator is estimated from force sensor signals of the Parallel Glove and the surface EMG signals. To evaluate the proposed control system, experiments of force display for human operators were carried out. Experimental results show that the motion of the Parallel Glove is controlled to keep the magnitude of perceptive force of a human operator with that of displayed force of the device.
一般社団法人日本機械学会の論文
2011-05-26