指先への6自由度力覚提示のための冗長な受動関節を有するパラレルリンク機構の検討

抄録

This paper developed 6Dof finger-mounted kinesthetic display for rendering force and torque cues simultaneously. The display is a modified model of the basic 6RSS parallel link mechanism by improving with redundant rotational joints. Comparative experiments show that the operating range of the improved model was larger than that of the basic model.