Abstract
In recent years, the studies on haptic interfaces have progressed. Currently, we have developed "Haptic Desk," which can detect information of force and information of contact position by a simple mechanism with force sensors. However, there is a problem that calculation accuracy of a contact position is low when force exerted on the desk is small. So, this paper proposes usage of information of differentiated force to calculate a correct contact point. If differential value of force is large when force is small, calculation accuracy of a contact position becomes high by using information of differentiated force instead of information of force. The experiment results showed validity of the proposed method.
