直感的な随意操作が可能な【第三の腕】に関する研究

―第十報:手先位置を同定可能なHaptic Feedback Beltの開発と同定精度検証―

抄録

In this research, to reduce Feedback cognitive load, we proposed a method to limit the state information of extended body to only hand position information which is physical point of action with environment, and development and recognition accuracy of Feedback device. As a proposed method, we created a Haptic Feedback Belt that expresses the position of the tip of the robot arm by vibration presentation to the lumbar region. As a verification test, the hand position recognition accuracy of the robot arm was verified with the vibration FB applied. The distance error from the target point was 10.1 [cm] on average for single task and 17.9 [cm] on average when vibration FB was not given, which was a significant difference. The result suggests that the hand position of the robot arm can be grasped by using this device.