| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a tactile interface having a wide operation space, capable of presenting a heavy feeling of a virtual object, and making an operator feel no sense of oppression and heavy feeling of a device. <P>SOLUTION: A multi-finger tactile interface 10 is provided with an arm mechanism composed of an arm part 12, a first arm joint 16, a second arm joint 17, and a wrist joint. A tactile finger base 20 is provided with a plurality of tactile fingers 21 to 25, and a finger fixing member 30 is arranged on the tip for connecting a fingertip of the operator. A control device 40 is provided for opposing the tactile finger base 20 to a hand Ha of the operator H by controlling the first arm joint 16, the second arm joint 17, and the wrist joint on the basis of detection of a position of the hand Ha of a three-dimensional position attitude sensor 42 and its attitude. A triaxial force sensor is arranged on the tactile fingers 21 to 25 for detecting a movement of a fingertip of the operator H. The control device 40 controls the tactile fingers 21 to 25 by interlocking with the movement of the fingertip on the basis of detection of the movement of the fingertip of the triaxial force sensor. <P>COPYRIGHT: (C)2004,JPO</p> |
