| 摘要 |
PROBLEM TO BE SOLVED: To provide an algorithm with quick reaction capability for computing tensile forces capable of being continuous in even a presentation region except complete presentation regions and being stably used. SOLUTION: A thread-drive-type inner force sense presenting apparatus 1 is provided with an indicating means for indicating a three-dimensional location, support points E arranged at a plurality of locations, threads each fed from the support points E and connected to a gripping part 5, a measuring means for measuring the amount of movement of the indicating means, and an arithmetic processing part of a computer for computing each of the tensile forces of the threads 4 based on measured values of the measuring means. Optimum tensile force values to be exerted on the threads are computed by constraint conditions (1) and an expression (2) in the arithmetic processing part in the algorithm for computing the tensile forces. COPYRIGHT: (C)2003,JPO
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