| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To give an operator touching a virtual object a feeling of touch depending on the hardness of the virtual object. <P>SOLUTION: A computer determines whether the direction of an operating force f is outward or inward of a virtual object (Step S8). If it is inward, the computer calculates a target fingertip position x<SB>d</SB>representing a temporary fingertip position considering the operating force f, and sets a target fingertip position x<SB>t</SB>in the position of the point (nearest point) on the virtual object surface that is nearest to the target fingertip position x<SB>d</SB>(Step S9). Each joint angleθ<SB>t</SB>of a force feedback mechanism for providing the target fingertip position x<SB>t</SB>is calculated (Step S10), and motors are controlled to provide each calculated joint angleθ<SB>t</SB>(Step S11). <P>COPYRIGHT: (C)2008,JPO&INPIT</p> |
