1A2-R02 遠隔操作システムの力覚感度に関する指標の提案(VRとインタフェース)

抄録

In the teleoperation system which can provide force display for an operator, the impedance control can enhance maneuverability. However, several sets of impedances decrease force sensitivity of an operator. It is difficult to avoid decreasing it, for there is no quantitative index about it in consideration of mechanical impedances at the moment. In this paper, we propose an index which is expressed with a formula about force sensitivity of the teleoperation system in consideration of them. This formula are derived under the assumptions that Stevens's low are satisfied, and we evaluate to what degree the tendency of the change between the value of it and actual human force sensitivity correspond . From the experimental results, we confirm the validity of it as an index of force sensitivity.