ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2A1-K09
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Unityと4指ハンドを用いた仮想物体の力覚提示に関する研究
*松尾 健斗村上 栄将山田 貴孝佐藤 惇哉山本 秀彦川崎 晴久毛利 哲也
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会議録・要旨集 認証あり

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In order to operate a teleoperation robot, many types of skills are necessary. Training using VR is one of the effective tools since people can learn how to operate the robot in advance. In this research, we construct a 3D virtual space using Unity and a master-slave system, which consists of a 4-finger 12-d.o.f hand and a virtual hand. An operator wears HTC Vive (HMD) and operates the 4-finger 12-d.o.f. hand. When the virtual hand collides virtual objects, this system presents the visual and haptic information to operator. The system draw an arrow deformed by a force vector in the virtual space, and command to the all servo motors.

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© 2017 一般社団法人 日本機械学会
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