パウダブレーキと定トルクばねを用いた外骨格型ハプティックデバイスの開発

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2020/09/01

タイトル(英語): Development of Exoskeleton Haptic Device using Powder Brake and Constant Torque Spring

著者名: 中村　昇暉（神戸大学 海事科学研究科），元井　直樹（神戸大学 海事科学研究科）

著者名(英語): Shoki Nakamura (Graduate School of Maritime Sciences, Kobe University), Naoki Motoi (Graduate School of Maritime Sciences, Kobe University)

キーワード: 外骨格デバイス，ハプティックス，受動力フィードバック，仮想現実　　exoskeleton device，haptics，passive force feedback，virtual reality

要約(英語): This study proposes an exoskeleton haptic device using a powder brake and a constant torque spring. The powder brake can change the torque resistance in real time, and the constant torque spring can generate a constant torque. This device is of a wearable type, and is worn on the operator's hand. By combining the powder brake and the constant torque spring, it is possible to generate an arbitrary passive force on the fingertip. Because this device generates passive force alone, it has an advantage from the viewpoint of safety. The proposed device is applied to the master system to control the slave system in a virtual reality (VR) device. Consequently, the operator can perceive the contact force between the VR device and the VR object. VR object exists in VR space, and can provide the contact force with arbitrary plasticity and elasticity. The experimental results confirm the validity of the proposed system.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.140 No.9 （2020）

本誌掲載ページ: 651-661 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/140/9/140_651/_article/-char/ja/