Development and Analysis of Wearable Force Display

提出并制作了一种新型可穿戴式力显示装置的样机。结合原型系统，研究了系统与IPT（Immersive Projection Technology）集成的技术需求和解决方案;结合穿戴式力显示器的设计方案和原型系统，提出了设计指导思想，并给出了可用性的定量分析方法;设计了不限制用户移动的机构。考虑到这一计划，我们实现了最佳的界面，为用户，这是较少的限制，以携带，以扩大用户的工作区域，特别是在身体的上前方。谈到与IPT设备的集成，我们开发了软件环境，以同步视觉和触觉显示。一般来说，据说触觉显示与视觉显示相比需要高刷新率以实现平滑通信。因此，视觉和触觉显示需要分开计算，但同时共享模型信息。针对这一需求的具体解决方案，我们提出并安装了“触觉服务器”系统。“我们验证了该系统是在良好的功能，实现视觉和触觉环境，扩大感官显示。我们希望这个环境能适合多用户的虚拟协同工作。触觉是管理协同工作的有效手段，因此我们采用触觉服务器的思想，在异地之间独占触觉信息，实现异地虚拟协同环境。我们进行了几个实验，并证明了远程协同工作的环境的效率。

We proposed and made a prototype of a new force display device which is wearable. With the prototype, we examined technical requirement and solution when to integrate the system with IPT (Immersive Projection Technology).In terms of the proposal and prototype of a wearable force display, we proposed a guideline of the design and specified a means of quantitative analysis for its usability.We planned a mechanism of the device not to constrain user's mobility. Taking this plan into consideration, we realized the optimum interface for a user which is less constrained to carry so as to extend a user's working area especially around upper front of the body.Talking about the integration of the device with IPT, we developed software environment in order to synchronize visual and haptic display. In general, it is said haptic display requires high refreshing rate comparing to that of visual display for smooth communication. Therefore, visual and haptic display needs to be computed separately, but at the same time, share the model information.The concrete solution for the requirement, we proposed and installed the system called "haptic server." We verified the system is in well function to realize the visual and haptic environment to expand sensory display. We expect this environment will fit virtual cooperative work by many users. It is said sense of touch is effective to manage cooperative work.Therefore we applied the idea of haptic server to monopolize haptic information among remote places and realized virtual cooperative environment among remote places. We conducted several experiments and proved the efficiency of the environment for tele-cooperative work.