シリンジ操作を可能にする対称性を考慮した8自由度ワイヤ駆動型力覚提示装置の提案

抄録

In this paper, we propose an 8DOF wire driven haptic device for syringe manipulation. The syringe manipulation has 2DOF plunger operation of translation and rotation. It is necessary to drive an end-effector with n+1 strings or more in order to realize a string based haptic device with n-DOF. By using a total of 12 wires considering spatial symmetry, we realized not only the 6DOF of translation and rotation of the endeffector but also the 2DOF of the syringe manipulation. In order to verify the proposed method, computer simulation was performed on the measurement of manipulability of the proposed design based on manipulability ellipsoid and displaying force range. The proposed haptic device was developed. As an evaluation experiment of the proposed system, rigid body operations with syringe manipulation were measured in VR world. As a result, it was confirmed that the device generates the plunger force of syringe and the manipulating force simultaneously. It is possible to display high tracking and force ability to the VR object.