抄録
In this study, we develop a passive type force display device using negative pressure. The device does not give a force by itself but gives registration force against a motion, which makes definitely safe driving system. The device has an air-chamber opened for the contact surface and the inner pressure of a chamber is controlled via control valve connected with vacuum pump. Regulating the negative pressure inside chamber, normal component of reaction is changed and friction force is also controlled. The position of the device on a horizontal plane is detected web camera, which allows registration force control based on the device position. We have investigated the validity in applying for VR oriented application and rehabilitation motion using an idea of mechanical impedance control. In this report, the basic concept of the device is described and application for a power assist on a forearm is introduced.
