MR流体アクチュエータを搭載したデルタ型ハプティックデバイスの改良と評価

抄録

State-of-the-art teleoperation systems are installed in various specialized robots, such as disaster, underwater, and surgical robots. However, the sensitive nature of their tasks causes psychological stress in operators. To reduce this stress, bilateral controllers are used to achieve a force feedback function that can support operational skills with gravity/friction compensation and haptic perception. Therefore, we developed several types of haptic devices with magnetorheological (MR) fluids as the core technology for fine haptics. In our previous study, twin-driven MR fluid actuators were developed as torque resources for a leader-site of the teleoperation system. In this structure, two MR fluid clutches which rotate in the counter directions are utilized as high-performance torque transmitters. Additionally, three TD-MRAs are installed in a haptic interface and combined with a delta-linkage system. This delta-type haptic interface (DH-MRD) was used as a leader system of the bilateral control system. In this study, we improved and evaluated the TD-MRD and DH-MRD.