A Force and Shape Display for Virtual Reality System

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  • 人工現実感システムにおける物体形状を提示する力触覚ディスプレイ
  • ジンコウ ゲンジツカン システム ニ オケル ブッタイ ケイジョウ オ テイジ

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We propose a force and shape display by making use of Active Environment Display(AED) that controls 3 positions and 3 postures (6 degrees of freedom). Shape Aprroximation Device(SAD) is installed on AED which has pantographic mechanism. Its positions and orientations are controlled by AED. The shape of the virtual object is generated by SAD which has many surfaces and edges, and virtual inertia, viscocity and stiffness are generated by controlling the mechanical impedance control of AED. Motion of the virtual object is generated by taking into consideration friction between the virtual object and the surface of the desk. Motions of virtual springs, pendulums, balls and valves are also generated.

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