| 摘要 |
<p>PROBLEM TO BE SOLVED: To simulatively experience the tactile sense of an object with a fine rugged structure formed on the surface, through efficiently operation. SOLUTION: A normal vector Nv is defined at each position of a virtual curved surfaceαv forming a fine recess, and these normal vectors are moved onto a planeαand mapped., As the shape data of a virtual object B, in place of the data of the virtual curved surfaceαv, the data of the planeαare prepared. An operating point P is defined on an operating part fixed on the finger of an operator so as to be moved in any arbitrary direction. When this operating point P arrives at the position on the surfaceαof the virtual object B, reaction force is defined in the direction of the mapped virtual normal vector Nv and by applying force corresponding to this reaction force to the operating point P, force is returned to the finger of the operator. Only the planeαis defined on the virtual object B but the operator gets the tactile seuse of the virtual curved surfaceαv from the returned reaction force.</p> |
