| 摘要 |
PURPOSE: To provide a force controller for a virtual space which gives a real contact feeling corresponding to the shape and material of a body which is actually touched with a hand as to a virtual reality system which provides 6-degree-of-freedom motion. CONSTITUTION: This force controller consists of a display 5 which displays the body and virtual hands, a manipulator 4 through which an operator controls the positions and attitudes of the virtual hands displayed on the display 5, a memory 3 which stores hand tip position and attitude data on the manipulator 4 and interference force data, a 1st CPU 1 which stores the hand tip position and attitude data on the manipulator 4 detected at a constant period in the memory 3 and outputs the interference force data stored in the memory 3 to the manipulator 3, and a 2nd CPU 2 which stores the memory 3 with the interference force data calculated from the hand tip position and attitude data on the manipulator 3 stored in the memory 3. |
