드라이브 ㆍ 컨트롤 (Journal of Drive and Control)

  • 제18권4호
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  • Pages.77-83
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  • 2021
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  • 2671-7972(pISSN)
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  • 2671-7980(eISSN)
유공압건설기계학회 (The Korean Society for Fluid Power and Construction Equipment)
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Sensory Evaluation of Friction and Viscosity Rendering with a Wearable 4 Degrees of Freedom Force Feedback Device Composed of Pneumatic Artificial Muscles and Magnetorheological Fluid Clutches

  • Okui, Manabu (Faculty of Science and Engineering, Department of Precision Mechanics, Chuo University) ;
  • Tanaka, Toshinari (Faculty of Science and Engineering, Department of Precision Mechanics, Chuo University) ;
  • Onozuka, Yuki (Faculty of Science and Engineering, Department of Precision Mechanics, Chuo University) ;
  • Nakamura, Taro (Faculty of Science and Engineering, Department of Precision Mechanics, Chuo University)
  • 투고 : 2021.11.17
  • 심사 : 2021.11.25
  • 발행 : 2021.12.01
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초록

With the progress in virtual reality technology, various virtual objects can be displayed using head-mounted displays (HMD). However, force feedback sensations such as pushing against a virtual object are not possible with an HMD only. Focusing on force feedback, desktop-type devices are generally used, but the user cannot move in a virtual space because such devices are fixed on a desk. With a wearable force feedback device, users can move around while experiencing force feedback. Therefore, the authors have developed a wearable force feedback device using a magnetorheological fluid clutch and pneumatic rubber artificial muscle, aiming at presenting the elasticity, friction, and viscosity of an object. To date, we have developed a wearable four-degree-of-freedom (4-DOF) force feedback device and have quantitatively evaluated that it can present commanded elastic, frictional, and viscous forces to the end effector. However, sensory evaluation with a human has not been performed. In this paper, therefore, we conduct a sensory evaluation of the proposed method. In the experiment, frictional and viscous forces are rendered in a virtual space using a 4-DOF force feedback device. Subjects are asked to answer questions on a 1- to 7-point scale, from 1 (not at all) to 4 (neither) to 7 (strongly). The Wilcoxon signed rank test was used for all data, and answer 4 (neither) was used as compared standard data. The experimental results confirmed that the user could feel the presence or absence of viscous and frictional forces. However, the magnitude of those forces was not sensed correctly.

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