Study on High Performance Force Display Systems with High Safety Using ER Fluid

（1）被动式测力显示器基本上是安全的，因为它没有爆炸的危险。由于其安全性，许多应用，如培训，临床应用和娱乐用途。然而，为了与虚拟对象交互或操纵虚拟对象，需要独特的控制策略。我们提出了三种控制算法来显示一个虚拟的墙壁和比较的特性被动力显示器使用电流变液制动实验。（2）力感的呈现使得在虚拟现实世界中的感觉增强。然而，目前已投入实际应用的力显示系统大多体积小，不能满足康复治疗、技能训练、设计、游戏等应用的需要。另一方面，力显示系统是一种机器人，它与人类不断接触，因此它必须在所有操作条件下都是安全的。分析了一种输入轴低速驱动的电流变液离合器的中、大型力显示系统的安全性能，并讨论了其力显示特性。（3）被动式力显示系统中存在一些难以表现力的方向和连接姿态。针对这一问题，提出了一种利用冗余电流变制动器来提高操纵性的方法。该方法使得能够显示虚拟对象的各种力方向和各种姿态。研制了一种具有冗余制动器的被动式力显示系统，并进行了控制实验。(4)We开发了使用功能流体离合器的二维和三维力显示系统，并进行了力显示实验。(5)We开发了一种使用功能流体的高安全性的线驱动力显示系统。

(1)The passive type force display is essentially safe, since it has no risk of overdrive. Because of its safety, many applications, such as training, clinical applications and amusement use are expected. However, to interact with or manipulate virtual objects, unique control strategies are required. We present three kinds of control algorithm to display a virtual wall and compare the characteristics of a passive force display using ER Fluid brakes experimentally.(2)Presentation of sense of force makes the feeling of being at the scenes of enhancing in a virtual reality world. Most of the force display systems being into practical use are, however, small size and do not enough large generative force and working area for many applications such as rehabilitation therapy, skill training, designing, game or so. On the other hand, a force display system is a kind robot, which operates in constant contact with human beings, so it must be safe in all operational conditions. We analyze the safety properties of a middle- or large-sized force display system using ER fluid clutches whose input shaft are driven at low speed, and then discuss their force display characteristics.(3)Passive type force display systems have some directions and link postures which are hard to present force. To this problem, we proposed a method for improvement of controllability using redundant couple of ER brakes. This method makes possible to display various force directions and various posture of virtual objects. We developed a passive type force display system with redundant couple of brakes and conducted its control experiments.(4)We developed 2D and 3D force display systems using functional fluid clutches and conducted their force presentation experiments.(5)We developed a wire-driven force display system with high safety using functional fluid.