Fine Reproduction of Haptic Sensations for High-Stiffness Environment Considering Mechanical Admittance

摘要

This paper focuses on storage and reproduction systems of environmental haptic sensations. In the conventional reproduction system, the command values of the system are generated from the environmental haptic memories that correspond to the position of the actuator. Because the environmental information, which are stored in the memories depending on the position, become insufficient, the conventional method is difficult to treat the high-stiffness environment. To solve this problem, this paper newly proposes storage and reproduction systems of haptic sensations based on admittance control. The proposed system generates the position command corresponding to the force response of the actuator. Therefore, the proposed reproduction system is able to reproduce the haptic sensations of high-stiffness environments. The effectiveness of the proposed method is confirmed by the experiment.