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Sawahashi R, Komatsu J, Nishihama R, Okui M, Nakamura T. Development of a Bimanual Wearable Force Feedback Device with Pneumatic Artificial Muscles, MR Fluid Brakes, and Sensibility Evaluation Based on Pushing Motion. JOURNAL OF ROBOTICS AND MECHATRONICS 2023. [DOI: 10.20965/jrm.2023.p0180] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/21/2023]
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.
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Affiliation(s)
- Ryunosuke Sawahashi
- Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan
| | - Jonah Komatsu
- Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan
| | - Rie Nishihama
- Research and Development Initiative, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan
| | - Manabu Okui
- Department of Precision Mechanics, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan
| | - Taro Nakamura
- Department of Precision Mechanics, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan
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Tanaka Y, Katagiri T, Yukawa H, Nishimura T, Tanada R, Ogura I, Hagiwara T, Minamizawa K. Sensorimotor Control Sharing With Vibrotactile Feedback for Body Integration Through Avatar Robot. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3191191] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Affiliation(s)
- Yoshihiro Tanaka
- Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Japan
| | - Takumi Katagiri
- Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Japan
| | - Hikari Yukawa
- Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Japan
| | - Takumi Nishimura
- Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Japan
| | - Ryohei Tanada
- Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Japan
| | - Itsuki Ogura
- Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Japan
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Kaneta R, Hasegawa T, Kido J, Abe T, Sohgawa M. Redesigned Microcantilevers for Sensitivity Improvement of Microelectromechanical System Tactile Sensors. JOURNAL OF ROBOTICS AND MECHATRONICS 2022. [DOI: 10.20965/jrm.2022.p0677] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
We previously reported a microelectromechanical system tactile sensor with elastomer-embedded microcantilevers. The sensor enabled the gripping control of soft objects by a robotic hand and acquisition of the object surface texture data. However, sensitivity improvement for more precise control and better texture information acquisition is desired. Here, the cantilever size and the sensor’s strain-gauge arrangement were redesigned, resulting in a sensor with significantly improved sensitivity. In addition, we report the sensitivity dependence on the cantilever size.
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