Development of 6DOF Finger-mounted Haptic Device for Operation with Two Fingers
Development of 6DOF Finger-mounted Haptic Device for Operation with Two Fingers
复制标题
开发用于两根手指操作的六自由度指装触觉装置
DOI：
10.7210/jrsj.20.893
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
M. Kawai
中科院分区：
文献类型：
--
作者：
T. Yoshikawa;Takuya Yamaguchi;Masatoshi Noguchi;M. Kawai
在本文中，我们介绍了六自由度（度的自由度）手指安装触觉装置，我们已经开发。当我们用手指操作虚拟物体时，需要使用六自由度的指戴式触觉设备。但是，这样的设备往往是如此之大，配备了许多致动器，大多数这些研究已经完成了使用触觉设备操作虚拟物体使用只有3DOF。然而，很明显，我们需要使用6DOF触觉设备进行更详细的操作。因此，我们开发了一个小型的，手指安装的触觉设备，锥齿轮的机制，然后证实其操作的有效性，通过操作一个虚拟物体与两个手指。为了计算虚拟世界中接触状态下的力和力矩，我们采用了“摩擦接触模型”。
In this paper, we introduce 6DOF (degree-of-freedom) finger-mounted haptic device which we have developed. When we operate virtual objects with our fingers, it is necessary to use 6DOF finger-mounted haptic device. But such a device is often so large with many actuators equipped, that most of these reserches to operate virtual objects with haptic device have been done using those with only 3DOF. It is clear, however, that we need to use 6DOF haptic device for more detailed operation. Thus, we developed a small-sized, finger-mounted haptic device, with the mechanism of bevel gear, and then confirmed its operational effectivness by operating a virtual object with two fingers. To calculate force and moment at the state of contact in virtual world, we have used“friction contact model”.