抄録
Sensory information helps us to operate skillfully, when we manipulate a machine or a robot. There are various sensory information such as force sense and tactile sense. Slip sense is important information when we adjust grasping force to a suitable amount, utilize the slip, and indirectly manipulate an object by moving another intermediate object. We have proposed a slip-presenting device and system using a traveling wave vibrator, which has excellent responsiveness and helps achieve multipoint slip-presenting thanks to its compactness. In this paper, we show that a bilateral operating device which can present force and slip information to the operator is able to perform an origami (folding paper) experiment. Origami is a kind of dexterous tasks which need skillful manipulation. We believe the slip-presenting mechanism has a potential for various dexterous manipulations like human's.
