Contact Point Calculation on a Haptic Interface Utilizing Differentiated Force

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2017/03/01

タイトル(英語): Contact Point Calculation on a Haptic Interface Utilizing Differentiated Force

著者名: Hiroyuki Kitamura (Graduate School of Science and Engineering, Saitama University), Sho Sakaino (Graduate School of Science and Engineering, Saitama University), Toshiaki Tsuji (Graduate School of Science and Engineering, Saitama University)

著者名(英語): Hiroyuki Kitamura (Graduate School of Science and Engineering, Saitama University), Sho Sakaino (Graduate School of Science and Engineering, Saitama University), Toshiaki Tsuji (Graduate School of Science and Engineering, Saitama University)

キーワード: force sensor，haptic interface，differentiation，noise

要約(英語): In recent years, studies on haptic interfaces have progressed. This study deals with the development of the “Haptic Desk”, which can detect force information and contact position information using a simple mechanism with force sensors. However this technique has low contact point accuracy when the external force is small. Hence, this paper proposes the use of differentiated force information to calculate an accurate contact point. In the experiment, the accuracy of the contact point calculation using the differentiated force information was higher than the one using the force information when the external force was small. Therefore, the error of the contact point decreased regardless of the magnitude of the force when the force information and differentiated force information were used properly.

本誌: IEEJ Journal of Industry Applications Vol.6 No.2 （2017） Special Issue on Motion Control and its Related Technologies

本誌掲載ページ: 151-159 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/6/2/6_151/_article/-char/ja/