抄録
In surgical robot systems, surgeons can't recognize information regarding the contact force on the instruments. For the detection of contact, surgeons need some force information device. This paper proposes a force information device of grip type using vibration, and tests human's sensibility regarding the vibration. In the experiment, vibration is given intermittently or continuously. Also vibration amplitude is given in such ways as each motor changes in digital and whole motor does in analogue or motor in digital. This experiment gets six results for each subject.
