Research on high precision force display method by a multi-fingered haptic device

研究了对置多指触觉装置的高精度力显示方法。主要研究了三个方面的内容：与人手相对的多指触觉界面的优化设计，多指手和手臂协同运动的冗余力控制，以及包括柔性物体变形和多接触点约束力计算在内的触觉渲染。(1)多指触觉界面的优化设计：提出了基于最大化人手和触觉手相交工作空间的手指布局优化方法。(2)冗余力控制：多指触觉界面是一个冗余度机器人。我们提出了一种新的冗余度控制方法，它优化了由触觉手和手臂关节的可操作性指标组成的性能指标。该方法保持了人与触觉手在广阔的工作空间中的接触，减少了操作者的不适感。(3)柔性物体的触觉渲染：提出了多接触点柔性物体触觉渲染的实时计算方法。该方法是基于有限元方法的。考虑了变形的非线性。(4)摩擦力矩：提出了抓取虚拟物体时摩擦力矩的计算方法。为了在虚拟现实环境中呈现摩擦力矩，开发了一种由手指、球和电机组成的紧凑型设备。(5)医学触诊训练系统的应用：为了展示多指触觉界面的有效性，开发了乳房触诊训练系统。在该系统中实现了上述技术，显示出作为医疗触诊培训系统的巨大潜力。

Research on high precision force display method by opposed multi-fingered haptic device is presented. Mainly three topics are studied : optimum design of multi-fingered haptic interface opposed to human hand, redundant force control with cooperative motions with haptic hand and arm, and haptic rendering including computation of deformation of flexible object and constraint force at multi contact points.(1) Optimum design of multi-fingered haptic interface : Optimum finger layout based on maximizing an intersection work space between human hand and haptic hand is presented.(2) Redundant force control : Multi-fingered haptic interface is a redundant robot. We proposed a novel redundancy control which optimizes a performance index consisting of the manipulability of the haptic hand and arm joint norm. This method keep a contact between human and haptic hands in wide work space and reduce a sense of uneasiness of operator.(3) Haptic rendering of flexible object : Real time computation method of haptic rendering of flexible object with multi-contact points is developed. This method is based on a finite element method. Non-linearity of deformation is taken into consideration.(4) Frictional moment : Computational method of frictional moment at grasping a virtual object is presented. To present frictional moment in virtual reality environment, a compact device which consists of finger holder, ball, and motor has been developed.(5) Application of medical palpation training system : To show the effectiveness of multi-fingered haptic interface, breast palpation training system has been developed. In this system, above mentioned technologies have been implemented and high potential as a medical palpation training system has been shown.