A basic study of a force display using a metal hydride actuator
A basic study of a force display using a metal hydride actuator
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使用金属氢化物执行器的力显示的基础研究
DOI：
10.1109/roman.1993.367720
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发表时间：
1993
期刊：
影响因子：
--
通讯作者：
T. Ifukube
中科院分区：
文献类型：
--
作者：
S. Shimizu;S. Ino;M. Sato;T. Odagawa;T. Izumi;M. Takahashi;T. Ifukube
提出了一种新的力显示方法，用于使用金属氢化物（MH）执行器来呈现肘关节的力感，用于人工现实和远程存在机器人。 MH执行器非常适合力显示，因为它工作平稳，没有任何噪音。此外，执行器结构紧凑、重量轻，并且具有足够的柔顺性。通过简单的测试发现，使用6克MH合金的致动器可以以9毫米/秒的速度将10公斤的负载提升到50毫米的高度。将 MH 执行器制作的力显示器连接到人体肘关节上，并进行了两项心理物理实验，以研究该执行器是否可用于力显示以创建人工现实。<<ETX>>
A new method of a force display is proposed for presenting the sense of force to an elbow joint using a metal hydride (MH) actuator to be used in artificial reality and tele-existence robot. An MH actuator is very suitable for the force display because it works smoothly without any noise. In addition, the actuator is compact, light weight, and it has an adequate compliance. From simple tests, it was found that the actuator could raise a load of 10 kg up to a height of 50 mm at a speed of 9 mm/sec using a 6 g MH alloy. A force display made by the MH actuator was attached to a human elbow joint and two psychophysical experiments were carried out to investigate whether or not the actuator is useful for the force display to create an artificial reality.<<ETX>>