Stiffness Generation Apparatus with Directional Conversion Device, Passive Haptic Feedback Providing Apparatus Using the Same, Micromini Moving Device Using the Same and Control Method

摘要

PURPOSE: A rigidity realizing device, a haptic device using the same, a micro moving body and a control method are provided to convert an external force action direction to the direction conversion unit, thereby being applied to a small and narrow space. CONSTITUTION: A housing(10) accepts MRF inside and includes a through-hole. A movable member(20) is included inside the housing and moves back and forth in one straight direction in a space which the MRF is accepted. One end of a connecting member(30) is inserted to the through-hole and is connected to a movable member. Another end of the connecting member is projected to the external side of the housing. A direction conversion unit(40) is included in another end of the connecting member and converts an external force action direction. A magnetic field application unit(50) is included inside the housing and applies the magnetic field to the MRF.