力覚コミュニケーションのためのスラントホイールシステム搭載マウス型ハプティックデバイスの動作特性

抄録

In this research, a newly developed slant wheel system as a compact omnidirectional mechanism is mounted on a mouse type self-propelled haptic device. It is confirmed that the characteristics motion with the STR motor plays a role of steering and moving motion, and also that the slant wheel system causes the omnidirectional movement through some experiments. These experimental results are roughly consistent with theoretical values.