没入型三次元動力学シミュレータにおける力覚提示の研究

Abstract

In RIKEN BMC, a human interactive soft robot RI-MAN was developed and applied to care of human subjects. However, it s still dangerous for the human subject to interact with RI-MAN during the experimental period. In such a case, it s common to eliminate danger by run a simulation beforehand. Conventional simulator couldn t interact between human subject and robot in a simulator. In this research, an immersion-type 3D dynamic simulator and the force display in an immersion-type 3D dynamic simulator was developed. Force display is mounted on elbow and human subject was made not to be regulated in the simulator. Confirm the effectiveness of the developed force display, the virtual obstacle was placed into the simulator and it experimented on the virtual obstacle by non-contact and contact. These experiments showed that the force display was effective.