1P1-C09 ロボットハンドの遠隔把持操作のための2指力覚呈示装置の開発(ハプティックインタフェース)

抄録

Haptic feedback system is required to provide reaction force resulting in the robot hand to an operator. In this paper, we develop a force feedback device to present reaction force in the operator when the robot hand grasping an object. The force feedback device presents reaction force in distal segment of thumb and middle finger, and basipodite of middle finger. The device is very compact, lightweight and has many force display points by using a Shape Memory Arroy as an actuator.