抄録
How to save and reproduce a haptic sensation in a real world has been one of the challenging issues. If the object is in a virtual world, the haptic sensation is acquired by computing. On the other hand, if it is in the real world, a system of saving and loading the haptic sensation is required. This system is demanded as a new education system in a field requiring advanced technique. Therefore, the environment-coping system based on the bilateral control has been studied. However, the conventional environment-copying systems only treat the environment with elastic characteristic. To solve this problem, a method of environmental reproduction based on dynamic model is proposed in this paper. The condition of the environment is considered from a view point of system connection. By using this system, the dynamic environment such as the environment with nonlinear behavior is able to be expressed. The validity of the proposal is confirmed by experiments, and the experimental results point out that the proposed system has a good realization of storing and reproduction the environment. The proposed environment-copying system has large advantage compared with the conventional methods.
