物理エンジンを用いた仮想環境における速度制御型マニピュレータによる剛体運動学習インタフェース

抄録

In this paper, learning interface using velocity control method of manipulators in virtual environment is proposed. This interface is developed for learning about rigid body dynamics which is a part of physics education in Japanese high school. By adjusting velocity of manipulators ' hand effector based on measured learner ' s hand positions, the system can avoid possibility that hand effectors penetrate inside of other objects. So the proposed velocity control method has only one parameter it is easier to adjust the operating characteristic of manipulators ' hand effector than any other control methods such as virtual coupling. Moreover, using virtual body helps the learners to find one's state in virtual space. The virtual body is controlled based on user's hands position (position of 3D haptic interface devices) by using inverse-kinematic algorithm. Evaluation of the proposed method is conducted in some experiments. In these experiments, it is indicated that the subject can control rigid body in virtual space by using the proposed interface.