著者

山本 悠理 竹村 研治郎

出版者

一般社団法人日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2010, pp."1A2-E08(1)"-"1A2-E08(4)", 2010

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An interface that presents variable sense is paid attentions from virtual reality researches. This paper presents an ungrounded force feedback device using the gyroscopic effect. An ungrounded force feedback device includes the Control Moment Gyro (CMG) that generates the torque due to the gyroscopic effect, resulting in making the system produce the sense of force to an operator. Four CMGs are arranged in pyramid form (4-CMG system), so that the plural CMGs are simultaneously driven to synthesize the torque. We experimentally verify the performance of the developed device. Concretely, we measured the stimulus threshold and evaluate the perception characteristic of an ungrounded force feedback device.