Abstract
In the finger's controllers for a robot and the virtual reality, it is difficult for an operator to feel the feedback force directly because a resistance of the controllers makes the sensitivity of the fingers less sharp. Therefore, it is effective to press the fingers with lugs in order to feel the force originally. In this research, we consider the experimental conditions, lugs' diameter, height, pitch, number, position to the fingers, and tip shape, refer to former researches for making the sensitivity of the fingers better to the feedback force, and have the experiment to confirm the concept of pressing the lugs to the fingers.
