S116061 接触状態を考慮した力覚提示装置の開発

  • 坂井田 千摩
    埼玉大学工学部機械工学科
  • 綿貫 啓一
    埼玉大学大学院理工学研究科:埼玉大学アンビエント・モビリテイ・インターフェイス研究センター:埼玉大学脳科学融合研究センター

書誌事項

タイトル別名
  • S116061 Development of Force Feedback Device Considering Contact Conditions

抄録

This paper discusses the control techniques of the force feedback device that is switchable between contact and contactless. The force feedback device that we developed in this study can present the sense of force to a fingertip. Contactless control, which keeps space between part of the force feedback device and the fingertip, allows the user to avoid contact with the device when force feedback is not needed. The device is equipped with a photo-interrupter to keep a certain distance from the fingertip and a servomotor for the drive. One switches from contactless control to contact control when force feedback to the fingertip is needed. The force feedback device measures the stress that the fingertip put on the device by means of a pressure sensor and calculates from the results the displacement, using the finite element method. Combining the displacement with the drift angle of the servo motor produces virtual rigidity. Moreover, we developed the force feedback software to display an elastic interaction according to the displacement. The experimental results revealed that the force feedback device can present the difference of hardness.

収録刊行物

  • 年次大会

    年次大会 2012 (0), _S116061-1-_S116061-3, 2012

    一般社団法人 日本機械学会

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