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JRM Vol.35 No.1 pp. 180-193
doi: 10.20965/jrm.2023.p0180
(2023)

Paper:

Development of a Bimanual Wearable Force Feedback Device with Pneumatic Artificial Muscles, MR Fluid Brakes, and Sensibility Evaluation Based on Pushing Motion

Ryunosuke Sawahashi*, Jonah Komatsu*, Rie Nishihama**, Manabu Okui***, and Taro Nakamura***

*Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University
1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan

**Research and Development Initiative, Chuo University
1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan

***Department of Precision Mechanics, Chuo University
1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan

Received:
February 25, 2022
Accepted:
December 2, 2022
Published:
February 20, 2023
Keywords:
force feedback device, artificial muscle, MR fluid brake
Abstract

In a virtual reality (VR) space, wearing a head-mounted display can help with the visualization of objects; however, users cannot experience realistic tactile sensations. Recently, several force feedback devices have been developed, including wearable devices that use straight-fiber-type pneumatic muscles and magnetorheological fluids. This allows the devices to render elastic, frictional, and viscous forces during spatially unrestricted movement. Nevertheless, a problem remains in that previous devices could handle many bilateral upper limb movement tasks. Therefore, this study aims to develop a device that can handle movements that interact with both arms. Based on experiments concerning the pushing motion in a VR space, the influence of the pseudo force sense was determined to not be small. In addition, we confirmed that the force sensation presented by this system was more realistic when the robot was operated with both arms than when operated with the right arm.

A bimanual wearable haptic device

A bimanual wearable haptic device

Cite this article as:
R. Sawahashi, J. Komatsu, R. Nishihama, M. Okui, and T. Nakamura, “Development of a Bimanual Wearable Force Feedback Device with Pneumatic Artificial Muscles, MR Fluid Brakes, and Sensibility Evaluation Based on Pushing Motion,” J. Robot. Mechatron., Vol.35 No.1, pp. 180-193, 2023.
Data files:
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