抄録
In this study, we aim at developing a device that can display compliance property of an object for human fingertips. Pneumatic actuator is focused to be employed as our displaying device from view that pneumatic actuators bring minute force control property owing to the air compressibility. Concretely, pneumatic cylinders are set on a base plane with their head side edge by flexible joint, while their rod side one is connected with fingertip directly to display force feeling by regulating pressure in cylinder's chamber. Compliance control system is constructed on the developed displaying equipment. The validity of the proposed system is confirmed through some experiments and analysis.
