著者

佐々木 大輔 則次 俊郎 高岩 昌弘 中西 克文 丸田 紘史

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.28, no.2, pp.208-214, 2010 (Released:2012-01-25)

参考文献数

13

被引用文献数

3

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In this study, a bilateral type pneumatic wearable master-slave device has been developed in order to feed back a force information to the trainer. Developed device is constructed with a master and a slave device using pneumatic rubber muscles. By feeding back the reaction torque to a torque control system of the master device, a master device user can feel the reaction torque from the slave. In this paper, the structure of the developed device, the fundamental characteristics of device are discussed, and then the validity of the developed device is evaluated from the fundamental experiments.