余剰肢ロボットのための触覚フィードバックシステムの基礎検討

抄録

Human augmentation by using robotics has been exploring by various approaches such as Exoskeleton or Telerobotics. Furthermore, the research topic of Robotic Supernumerary Limbs (SuperLimbs) is recently studying as a novel approach for human augmentation. The research issues of SuperLimbs require perspectives and approaches in human-robot interaction different from previous research topics. In our research, we focus on the sensory feedback system for the operator to perceive the status of a Robotic SuperLimbs which attached to the body of themselves. Our approach is to use haptic feedback to provide proprioceptive information of the robot to the operator. In this paper, we consider the design factor for sensory feedback under the condition of SuperLimbs usage and describe a prototype of a wearable haptic device and system for haptic feedback. And then, we report the result of a preliminary experiment for system evaluation of the haptic device.