Study on Force Presentation of a Virtual Object using Unity and a 4-finger Hand

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  • Unityと4指ハンドを用いた仮想物体の力覚提示に関する研究

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<p>In order to operate a teleoperation robot, many types of skills are necessary. Training using VR is one of the effective tools since people can learn how to operate the robot in advance. In this research, we construct a 3D virtual space using Unity and a master-slave system, which consists of a 4-finger 12-d.o.f hand and a virtual hand. An operator wears HTC Vive (HMD) and operates the 4-finger 12-d.o.f. hand. When the virtual hand collides virtual objects, this system presents the visual and haptic information to operator. The system draw an arrow deformed by a force vector in the virtual space, and command to the all servo motors.</p>

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