多指ハプティックインターフェイスを用いた物体把持における摩擦力の提示(「触・力覚情報の処理と呈示」特集)
2006 年 11 巻 1 号 p. 39-45
詳細
2006 年 11 巻 1 号 p. 39-45
When a virtual object is grasped by human hand, the grasped and the slipped states should be both presented with reality. This paper presents a computational technique for calculating the static and dynamic friction force, in addition to friction moment applied to haptic rendering. The proposed technique is evaluated by using a five-fingered haptic interface named HIRO II combined with virtual reality simulation system.
