対向型多指ハプティックインターフェイス

• 川崎 晴久

  岐阜大学工学部

• 堀 匠

  岐阜大学工学部

• 毛利 哲也

  岐阜大学工学部

書誌事項

タイトル別名

• Multi-Fingered Haptic Interface Opposed to Human Hand
• タイコウガタ タシ ハプティックインターフェイス

抄録

This paper presents a multi-fingered haptic interface opposed to human hand, which consists of 6 DOF interface arm and three-haptic fingers with 3 DOF. The haptic interface is demanded to be safe, to work in wide operation space, and to present not only force at contact points but also weight feeling of virtual objects, to have no oppressive feeling when it is attached to humans, and to have no weight feeling of itself. The haptic interface was designed to be completely safe and to be similar to the human upper limb in shape and motion ability. The interface is placed opposed to the human hand, which brings safety and no oppressive feeling, but causes difficulty in controlling the haptic interface because it should follow the hand poses of the operator. Two control methods of the haptic fingers are tested and two approaches to oppose the interface hand to the human hand are studied. A computer graphics simulation and experiments are also presented.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 23 (4), 449-456, 2005

  一般社団法人 日本ロボット学会

キーワード

• Haptic Interface
• Multi-fingers
• Virtual Reality
• Manipulability
• Robot Hand

詳細情報

• CRID: 1390282679701772928
• NII論文ID: 10015728182
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.23.449
• ISSN: 18847145
• ISSN: 02891824
• HANDLE: 20.500.12099/24266
• NDL書誌ID: 7361288
• Web Site: https://gifu-u.repo.nii.ac.jp/records/77804
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I7361288
• 本文言語コード: ja
• データソース種別:
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  • IRDB
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
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