遭遇型パラレルワイヤ力覚提示装置の提案(<特集>五感情報インタフェース) [in Japanese] Proposal of Encounter-typed Haptic Display Equipment of Parallel Wire Driven [in Japanese]
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We propose a new encounter-typed haptic display which is constructed with three motors, three wires and three sliders. An end effector of the haptic display is held with the wires which are rolled by the motors, and the sliders which move the motors. When a fingertip measured by stereo camera touches on surface of a virtual model, the end effector exists in its position. Since the end effector mass is small, it is safe and its response is high. And since 5 flexibility is realized with three wires, the wires do not interfere to the operator's hand. So in the experiments, we checked its usefulness.