ケーブル駆動型触覚提示インタフェースと振動素子による物体提示

抄録

Robot therapy is a mental treatment method that uses a robot instead of an animal. However, conventional pet robots have a low degree of freedom, making it difficult to perform realistic movements. Therefore, we try to create a highly flexible virtual pet robot. we create a virtual simulation and couple it with a cable interface to display haptic rendering. Past research is have created haptic interfaces that display either power or texture. In this paper, we propose a control method to display both power and texture. Forces are displayed with a cable-driven haptic interface, and texture is displayed using piezo actuators.