ヒトの動作に連動した非接地の力フィードバックによる把持物体の多様な物性提示システム

抄録

Humans can estimate properties of a swung object, such as its moment of inertia and viscous resistance by feeling applied forces in their hands. This study aims to replicate these perceived properties by dynamically altering forces using a device equipped with Control Moment Gyroscopes. Without grounding, it provides three degrees of freedom in torque feedback. By adjusting torque feedback according to the user’s angular acceleration and velocity, we simulated changes in effective inertia and viscosity. Experiments showed the device can amplify inertia by roughly 2.5 times and viscosity by about 1000 times. Considering Weber fractions, it can differentiate approximately six inertia levels and eleven viscosity levels.