Display of Variable Compliance by Haptic Devices Using Flexible Sheet

Abstract

A new haptic device using flexible sheet such as rubber is proposed. Controlling the bias tension of the sheet, the device varies compliance of the sheet in the normal direction; users can feel compliance of various virtual objects if they touch the sheet. The device is suitable for displaying soft objects. An elastic plane model offlexible sheet is analyzed by FEM. A prototype device using a square rubber sheet is developed. This device controls the bias tension of the sheet by pulling its four corners with four motors. The normal force applied to the center of the sheet and the normal displacement at this point are measured, and the obtained force-displacement curves of three kinds of sheet-urethane, chloroprene rubber and low elastic rubber-are compared. The results show that the developed device can generate different compliance by changing the bias tension. The compliance of human palm is measured and simulated by the device.