6 D.O.F. Input Device with Force Feedback Project
Input Device with Force Feedback
Hiroshi Yokoi ,
Makoto Shimojo, and
The device is a Cartesian type manipulator (see Figure 1) of 6 D. O. F. (degrees of freedom)
at the end effecter position. It can move along X, Y, and Z axes and can rotate around each axis.
Its mechanism is highly stiff and it moves 0.01 mm per pulse of the controller.
The device has force sensors, which are strain gages, of 6 D. O. F. at its end effecter
to pick up the force applied by the user's hand; then the detected force data are input to its
controller that adopts velocity control to drive the device freely or to feedback appropriate force.
Fig. 1. An input device with force feedback. A user takes the handle and moves it in 6 D.O.F.
The device works as a 3D cursor and transmits forces to the user's hand as well. A user can
feel virtual "shapes" shown by force feedback.
Nominal positional resolution 0.01 mm
Workspace 35 x 35 x 20 cm
Max. exertable force (H): 700 N (71kgw), (V): 300 N (31 kgw)
Inertia (Controlled): ~100g
Control rate Around 600Hz
Yokoi, H., J. Yamashita, Y. Fukui, and M. Shimojo : "Development of the Virtual Shape Manipulating System", Proc. of ICAT '94 (The Fourth International Conference on Artificial Reality and Tele-Existence), pp. 43 - 48, 1994.
Yokoi, H., J. Yamashita, Y. Fukui, and M. Shimojo : "Development of 3D Input Device for Virtual Surface Manipulation", 3rd IEEE International Workshop on Robotics and Human Communication, 1994.
Fukui, Y., H. Yokoi, J. Yamashita, and M. Shimojo: "Virtual Surface Tracing Manipulator of Low Frequency Cycle Time", presented at SIGGRAPH '95 Technical Sketches, 1995.
Yokoi, H., J. Yamashita, Y. Fukui, and M. Shimojo: "Development of 3D-Input Device using Adaptive Control", IEEE International Conference on Neural Networks, Vol.V, pp.2709 - 2714, 1995.
Hiroshi Yokoi, Yukio Fukui, Juli Yamashita, and Makoto Simojo: "A Study on Force Feed-back Device Using 6 D.O.F. Cartesian Robot (Adaptive control method for human spatial movement)," Journal of Robotics and Mechatronics Vol.9 No.1, pp.1-8, 1997.
蔡奕，福井幸男，山下樹里，下条誠：広範囲操作力対応型力覚インタフェース：６ＤＦＭシステム，日本バーチャルリアリティ学会論文誌，Vol.3, No.3, pp. 65-74, 1998.
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Last updated : July 09, 2001