2018 年 23 巻 1 号 p. 45-54
Recently, force feedback devices have been developed that render force associated with virtual objects. Major devices are desktop and wearable types. Wearable types are less restricted in movable area than desktop types. However, typical devices with motors are difficult to achieve large range of movement, backdrivability, and safe. In this study, to improve these problems, we have developed a 1-DOF wearable force feedback device with MR brakes and a pneumatic artificial muscle. We check the basic performance and construct an augmented reality space allowing the operator to move. In the augmented reality space, the device is evaluated.