Virtual Obstacle Experiences using Virtual Reality for Welfare System Support

要将贴近现实的动态具体化，并将环境的变化反馈给主体，就必须对残疾人所面临的困难有一定的体会。因此，由于认为力信息对轮子的反馈是体验困难的不可或缺的因素，因此，通过增加力显示来制作试制的轮椅体验系统。将轮椅的后轮放在两个滚轮上，前滚轮上安装了旋转编码器来控制速度，后滚轮上连接着直流伺服电机、同步皮带和滑轮来显示力。该系统所安装的力传感器测量人类轮椅所受的力。通过A/D转换输入量得到力，并根据后面所示的方程确定速度。通过伺服驱动器D/A转换将模拟信号输出到直流伺服电机。用当时安装在前辊上的编码器测量速度。对车速进行控制，使设定速度与编码器测得的车速一致，实现了对车轮的受力显示，并进行了实验验证，得到了与实际相符的力显示动态。首先，测量受试者在现实中只推一次车轮所走的距离，然后取平均值。然后，使用上面解释的系统执行相同的操作，并设置参数以使距离一致。实验结果证明，系统的真实值与虚拟真实值是一致的，作为现在的主题形式，为了使系统更好地反映困难，有必要进行一些实验来解决对各种环境产生的反馈的识别动作，特别是要解决残疾人自身的特点。

To materialize dynamics which is close to the reality and to have the changes of the surroundings feedback to the subjects are essential to have some experiences of the difficulties that the handicapped have. Thus, the wheelchair experience system which had been manufactured for trial was produced by adding Force Display because it is considered that the feedback of the force information to such wheels is the indispensable factor to experience difficulties. Put the rear wheels of the wheelchair on two rollers, the front roller is equipped with the rotary encoder to control the speed, and the rear roller is connected with DC servomoter, timing belt, and pulley to show the force. The force sensor which the system is installed in measures the force that man wheels the wheelchair. Getting the force by putting in the value by A/D change, and decide the speed by the equation shown subsequently. Put the analog signals out to the DC servomotor through the servo-driver D/A change. Measure the speed by the encoder installed in the front roller at that time. Control the speed to make the set-up speed concur with the speed measured by the encoder, and materialize to show the force to the wheels.Besides, the experiment for the proofs to get the dynamics of Force Display concurred with the reality is done. First, measuring the distance got by the subjects pushing the wheels only once in reality, and then took an average. Then, doing the same thing using the system explained above, and set up the parameter to make the distances concurred. The result of the experiment proved that the value in reality concurs with that in virtual reality.As the theme form now on, to make the system more reflective to the difficulties, it is necessary to have some experiments to solve the recognition movements to the feedback generating from various surroundings, and especially to solve the characteristics of the handicapped themselves.