空気圧ゴム人工筋肉と磁気粘性流体クラッチを用いた装着型4自由度力覚提示装置による粘性提示

抄録

A four degrees of freedom wearable force feedback device with pneumatic artificial muscles and magnetorheological fluid clutches have been developed. The device has four degrees of freedom at shoulder and elbow. By arranging artificial muscles and magnetorheological fluid clutches at each joint, the device can render elasticity using characteristic of artificial muscle, friction, and viscosity by controlling torque of magnetorheological fluid clutch. We have already confirmed that the device render elasticity and friction. However, we have not confirmed whether the device can render viscosity yet. In this paper, we derived an equation for rendering viscosity, and conducted an experiment based on the equation.