遠隔地の熱環境を計測・体験するテレ・ハプティクス・ロボットアーム・システムの構築

（ウェアラブル装置における熱環境再現性の向上）

抄録

Robot systems capable of experiencing remote environments are urgently required for future lack of manpower and aging society. In this study, development of the tele-existence robot arm in which human beings can experience not only the haptic environment but also the thermal environment was targeted. In this report, the temperature transmission system was developed and the trial operation was conducted. In the test, a remote temperature measurement finger-tip-like unit touching a moderately(50degC)-heated metal block transmitted a PWM signal of a temperature variation to a on-site wearable unit. Reproduction of the remote temperature sensing data was achieved by controlled heating based on the transmitted information in the wearable unit. In this paper the reproducibility was indicated by the result of temperature variation of the temperature measurement unit of on-site finger probe in the wearable unit.