抄録
The operational feelings of manual control levers are important to maneuver devices that need manual operations according to user's intentions. In this research, we built and tested a prototype of a manual control input lever of single degree of freedom using a magnetic particle brake in a rotational joint in place of the servo motors. And a one-way clutch is mounted on the rotating shaft so that the resisting torque of the magnetic particle brake is transferred to the lever in a one way. The drag torque was displayed haptically by appropriate actuation of the magnetic particle brake to support the manipulation. In order to assist in deciding the control input, the lever displays the resisting torque against user operations. The purpose of the presented system is to reduce the burden on the operation with respect to the intention of a user. We examine the influence of the resistance torque by psychophysical methods. The results of this research enable control input devices to adapt the ability of movement and preference of the user.
