ワイヤ駆動型力覚提示装置における受動粘性制御の提案(<特集>ハプティックコンテンツ)

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  • A Proposal for Control of Inherent Viscosity for Wire Driven Haptic Display(<Special Issue>Haptic Contents)
  • ワイヤ駆動型力覚提示装置における受動粘性制御の提案
  • ワイヤ クドウガタリョクカク テイジ ソウチ ニ オケル ジュドウ ネンセイ セイギョ ノ テイアン

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In this paper, we propose a method to control the inherent viscosity by using redundancy of wire driven haptic display. Conventional approach that improves Fidelity and Stability of haptic display is to increase inherent viscosity or updating frequency. We focused on inherent viscosity. There will be unnecessary viscous resistance when increasing inherent viscosity at all time. It is necessary to dynamically control the inherent viscosity. We focused on the regenerative braking of DC motor. However, we can't control regenerative braking of a motor while driving. We solved it by using redundancy of wire driven haptic display.

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