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JRM Vol.15 No.2 pp. 121-127
doi: 10.20965/jrm.2003.p0121
(2003)

Paper:

Development of Haptic Device Using Flexible Sheet

Kenji Inoue, Reiko Uesugi, Tatsuo Arai, and Yasushi Mae

Department of Systems and Human Science, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka, 560-8531 Japan

Received:
October 24, 2002
Accepted:
December 11, 2002
Published:
April 20, 2003
Keywords:
haptic device, flexible sheet, tension control, variable compliance
Abstract

A new haptic device using flexible sheet such as rubber is proposed. Controlling the bias tension of the sheet, the device varies compliance of the sheet in the normal direction; users can feel compliance of various virtual objects if they touch the sheet. The device is suitable for displaying soft objects. A prototype device using a square rubber sheet is developed. This device controls the bias tension of the sheet by pulling its four corners with four motors. The normal force applied to the center of the sheet and the normal displacement at this point are measured. The results show that the developed device can generate different compliance by changing the bias tension and that it can vary the compliance in response to 5 [Hz] sinusoidal change of the bias tension. The compliance of the human palm is measured and simulated by the device.

Cite this article as:
Kenji Inoue, Reiko Uesugi, Tatsuo Arai, and Yasushi Mae, “Development of Haptic Device Using Flexible Sheet,” J. Robot. Mechatron., Vol.15, No.2, pp. 121-127, 2003.
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