ケーブル駆動型触覚提示インタフェースにおける操作時の抵抗感の改善手法

抄録

A haptic interface is an interface that feedbacks the feeling of touching a virtual object to the user. A cable-driven haptic interface is an interface that displays force by tension, and has large work space and output power. In the conventional control method of the cable drive haptic interface, the end effector was fixed with a constant tension. With this method, The end effector is freely maneuverable, but resistance occurs when approaching the boundaries of the haptic range. In this paper, we propose a method to eliminate the resistance that occur during operation. First, we eliminated the resistance created by constant tension. Next, we reduce friction resistance with assist. Finaly, the resistance to the coordinates was successfully eliminated by the resistance compensation. In addition, there is a possibility that the resistance has been successfully reduced by the resistance reduction assist. Therefore, the proposed control method improved the haptic transparency and enabled the display of smaller forces.