抄録
Presentation of haptic sense or sense of force makes the feeling of being at the scenes enhancing in a virtual reality world. Most of the force display systems being into practical use are, however, small size and do not have enough large generative force and working area for many applications such as rehabilitation therapy, skill training, designing, game or so. On the other hand, a force display system is a kind of robot, which operates in constant contact with human beings, so it must be safe in all operational conditions. In this paper, we discuss the safety properties of a middle- or large-sized force display system using clutches whose input shafts are driven at low speed, and then consider their force display characteristics.
