Reproduction of Arm Kinesthetic Sense in Virtual Environment Using Bilateral Control

양방향 제어를 이용한 가상환경에서의 팔운동감 제시

Human feels kinesthetic sense in response to the force acted on him. In order to represent kinesthetic sense, a force is analyzed as mechanical impedance (i.e., stiffness or damping) and implemented by active impedance control. In this research, a 3-dimensional arm motion generator is developed to present various mechanical impedance characteristics to an operator. An introduction of virtual reality provides not only a visual effect in virtual environment but also the change in force synchronized with the visual effect in real time.