Basic Research on the Influence of Inertial Force in Force Presentation System, Position Input System and Rehabilitation Support System

- Evaluation methods and improvement methods of their characteristics in link-systems -

Abstract

It is necessary to consider the influence of inertial force when designing a link-type force presentation system, position input system and rehabilitation support system. In this study, we propose a method for evaluating the effect of inertia and a method for improving its characteristics. Since the direction of the force vector applied to the gripper is significantly different from the direction of the acceleration vector of the gripper in 2-link system, the operation becomes difficult. It is shown that one property holds for the influence of inertia in 2-link system. In order to improve the inertia characteristics of 2-link system, a 4-link system consisting of closed link system is properly introduced. Then the above characteristics will be greatly improved. In order to derive the equation of motion of the closed link system, an undetermined multiplier vector, which is a force vector of constraint, is introduced.