Research and Development on Micro Haptics Technology for Recording of Imperceptible Haptic Information

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This project aimed at the realization of engineering support for microscopic motion on the basis of haptic feedback control technique. Then, the research on new haptics technology which has high control performance in micrometer/nanometer scale was driven. The research achievements can be summarized as the following five points. (1) A prototype of micro haptic system was developed. (2) The performance index for haptic communication characteristic was newly defined. Then, a new bilateral control method taking variable transmission ratio into account was developed. (3) A new theory for motion modal decomposition based on discrete Fourier series expansion was established. (4) A new control technique for haptic communication between systems with different configuration was developed. (5) The experimental system for the network-based real-time haptic communication was developed.