A study on Force Feed-back Device Using 6 D.O.F Cartesian Robot (Adaptive control method for human spatial movement)
Hiroshi Yokoi*, Yukio Fukui**, Juji Yamashita**, Makoto Shimojo**
*Faculty of Engineering, Hokkaido University, Kita-13, Nishi-8, Kita-ku, Sapporo 060, Japan
**National Institute of Bioscience and Human Technology, 1-1 Higashi, Tsukuba, 305, Japan
This paper reports the 3D force feed-back device for CAD system with the adaptable control for human characteristics. For the problem of unstable motor action of force feed-back device caused by disagreement of impedance between man and machine, the human friendly device is proposed with adaptive control using parameter tuning for device controller. One hypothesis of propotional relation between grasping force and muscle tension. From the hypothesis and experimental result, the system parameters are unfolded on grasping force, and an adaptive control method is described. As an evaluation experiment of proposed device, a comparison is examined among tracing-resistance of virtual surface and real surface and (ice, steel, and wood), and shows smooth feeling rather than ice plate.