BASIC STUDY OF THE FORCE FEEDBACK DEVICE FOR THE ARTIFICIAL REALITY TECHNOLOGY BY THE ARTIFICIAL MUSCLE

为了将人工现实应用于医学，医务人员在进行某些工作或手术时，从安全或人为的角度考虑，不仅需要视觉和听觉信息，而且至少需要力感真实存在。在本研究中，基本考察了我们新开发的作动器作为人工现实力反馈装置的应用可能性。形状记忆合金是一种具有柔性、安全、静音等特点，以适应生命和生命体的要求，以弥补其缺点和优点。硬件制造几乎是按照计划进行的。即初步实现了力反馈装置。将该力反馈系统与数据传感器相结合，实现了一个人工机械手系统。开发了该人工现实系统的软件。与这些结果相反，不可能定量地表示回弹力。这一事实在文献中没有发现。通过肌电图评估，发现肌电图评估可以定量地呈现相应校准的回弹力。通过dataglove和这种力反馈装置来实现能够呈现视觉、听觉和力感，并接受来自周围环境的手指运动和压力的系统是一个尚未解决的问题，而“虚拟现实生理学”作为一个新的研究领域正在变得清晰起来。因此，这项研究的影响不仅仅是硬件的实现。

In order to apply the artificial reality in medicine, not only visual and audio informations but also force sensation, at least, are need to give real presence, when medical staff do some works or perform operations, from the point of view of safety or human consideration. In this study, application possibility of our newly develoed actuators as those for force feedback device for the artificial reality were basically exzamined. The Shape Memory Alloy, which was to gain the benefits and to improve the shortages, and was flexible, safty, and silent ones in order to deal with lives and Living body, was used for those actuators. The hardware making was proceeded almost through the plan. That is, a preliminary force feedback device was actualized. An artificial hand system was also actualized with the combination of this force feedback system and the dataglove. Sofrwares for this artificial reality sytem were also developed. Contrary to these results, it was not possible to present the rebound force quantitatively. This fact was not found in the literatures. Using the ElectroMyoGram evaluation, it found that evaluation by the EMG could present the rebound force quantitatively with respective calibration.An unsolved problem is to accomplish the system, which is able to present visual, audio, and force sensation and to accept finger movements and pressure from the surroundings with the dataglove and this force feedback device, while "physiology of virtual reality" is becoming clear as a new study field. Consequently, this study had more impacts than just an actualization of a hardware.