遠隔操縦ロボットのための力覚および振動触覚フィードバックシステムの構築と評価

抄録

In this paper, we have constructed a teleoperation support system that provides simultaneous feedback of force and vibration. Force sensor and acceleration sensor are attached to the robot tip, and the measured values are feedback to the operator. To investigate the effect of force and vibrotactile feedback on the accuracy of stimulus discrimination, we conducted experiments to discriminate materials with stimuli of different hardness and roughness. As a result, we found that the simultaneous feedback of force and vibration is effective for material discrimination.