開発・試作したテレ・ハプティクス・ロボットアームに対する温熱・触覚環境技術の付加方法の検討

抄録

Robot systems capable of experiencing remote environments are urgently required for future lack of manpower and aging society. In this study, development of the tele-existence robot arm in which human beings can experience not only the haptic environment but also the thermal environment was targeted. In this report, first, a tele-haptics robot arm system, driven by torque control, was introduced. Silicon rubber is used for the fingers of the robot arm because its thermal conductivity is close to that of human skin. In order to investigate the temperature rise caused by contact with a heating body, thermocouples were embedded at the depths of 0.3, 0.6 and 0.9 mm of the silicone rubber finger tips. Temperature measurement was carried out when a high temperature aluminum cylinder of 60 deg.C was touched with a heavy force of 7.8 N and a light force of 0.86 N. The results was compared with numerical simulated results.