Abstract
A force feedback device can display a kinesthetic sense to an operator. Previously, several types of force feedback devices have been developed, however, an ungrounded force feedback devices are still not in practical use. Ungrounded force feedback devices do not require any origin of a reaction force outside an operator, which extends the range of working space to the infinite. Therefore, it is technically competent for a mobile interface. The present study develops a prototype of an ungrounded force feedback device using a gyroscopic torque. This prototype uses a Control Moment Gyro (CMG) as an actuator unit that generates a gyroscopic torque. Our prototype, which has four CMGs arranged in a pyramid form, generates torque in arbitrarily directions using the gyroscopic effect. The kinesthetic sense is displayed to an operator by the synthesized torque of the four CMGs.
