| 摘要 |
<p>PROBLEM TO BE SOLVED: To make presentable an inner force sense of a virtual object with a high degree of freedom and good operability, and to make achievable higher practical feeling with a simple structure by feeding back force in a magnetic field via a tool body unrestricted by a complex mechanical mechanism. SOLUTION: When a scalpel 7 is put onto a virtual object presenting device 9 by hand, a multi-joint driving mechanism 9b operates tracking so that a distance between the scalpel 7 and a sensor unit 9a is kept constant based on the result detected by a CCD camera. And, when the scalpel 7 reaches a contact position with the virtual object V1 in a virtual reality space, an electromagnet is excited so that the scalpel 7 has an N-pole. Since an N-pole part of a permanent magnet faces the bottom face side (namely, the electromagnet side) of the head part 7a, the scalpel 7 receives reactive force by the repulsive force between a permanent magnet and the electromagnet. The reactive force to the scalpel 7 is transmitted to the hand of an operator P. Namely, the feeling at the time when the virtual object V1 is cut is obtained as the reactive force.</p> |
