扁平構造を有する3次元力覚提示アクチュエータの提案

抄録

　Three-degree-of-freedom linear oscillatory actuator (3DOF-LOA) is expected to reduce the size and weight of haptic devices. However, it is necessary to generate a thrust spatially without force interferences from other axes, making it is difficult to reduce the number of parts and to simplify a supporting mechanism. To solve this problem, we propose a novel 3DOF-LOA consisting of two permanent magnets and three coils wound in layer. This paper describes the proposed magnetic structure and operating principle and clarifies the force and acceleration responses. As a result, it is confirmed that the proposed 3DOF-LOA can drive with asymmetric acceleration for the haptic presentation.