冗長ブレーキを有するパッシブ型力覚提示システムの開発

抄録

Force information in virtual space is important and often required for tele-operation, training, amusement, design supporting and other virtual reality systems. While conventional force displays are active systems with actuators and as such may become inherently dangerous, passive force displays which use only passive elements are effective methods for assuring safety. However, passive type systems have some directions and link postures which are hard to present force. To this problem, a method for improvement of controllability using redundant couple of brakes was suggested. It can be considered this method makes possible to display various force directions and various postures of virtual objects. The purpose of this study is, for further improvement of controllability of systems with redundant couple of brakes, design and development of more generalized redundant mechanism by adding another element of design freedom. Moreover, improvement of force display-ability by reducing equivalent inertia is also aimed. In this paper, the developed system is outlined and basic experiments with it discussed.