抄録
We have proposed a passive type force display system with ER brakes. The passive type force display is essentially safe, since it has no risk of overdrive. Because of its safety, many applications, such as training, clinical applications and amusement use are expected. However, to interact with or manipulate virtual objects, such as tracing over surfaces of the objects, unique control strategies are required. In this study, we present three kinds of control algorithm to display a virtual wall, and compare their characteristics experimentally.
