簡易歩行型ハプティックシステムのための非同期マルチラテラル制御

摘要

近年，ラジオやテレビ，電話などの発明により多くの情rn報伝達がなざれており，時間や場所に制限されないコミュrnニケーションが普及してきている。コミュニケーションにrnおいて重要であると思われるのは，人間の持つ五感のうちrnの聴覚，視覚，触覚が挙げられる。%Recently, there has been extensive development in remote communication technologies such as telephone, radio, and television. rrnHaptic information is studied as the third type of multimedia information. Real-world haptics is getting attention not only rrnfor the feedback of real-world haptic information in teleoperation but also as the key technology for future human support. rrnMost of the objects of study in haptics are stationary. Therefore, the moving range of such haptic systems is limited.rnThis paper proposes a novel haptic device that receives force feedback of walking motion from a remote environment and rrnmanipulates remote system. Thus, its moving range is unrestricted. To drive this haptic system, the paper also proposes rrnasynchronous multilateral control. By using this control, an operator can operate the remote system without changing his/her rrnposition. The proposed haptic system is expected to act as an effective interface for virtual reality applications and rrnteleoperation.