Reproduction of haptic data in grasping and manipulating operations

Recently, a field requiring advanced techniques demands a new education system designed to reproduce the haptic sense. The environment-copying system, in which a haptic data is stored and reproduced, has been studied. However, the conventional environment-copying systems reproduce only the haptic sensation on the environmental surface. The haptic sensation is not only changed by the mechanical impedance but also some circumstances, how the condition is and how the operators move the environment. Then, this paper proposes the environment-copying system for the multi degree-of-freedom motion. This paper treats the grasping/manipulation motion as multi DOF motion. In the grasping mode, the mechanical impedance of the environment is identified. On the other hand, the frictional force and the fictitious force are identified in the manipulation mode. Loading the identified impedance and force, the operators feel as if they grasp and manipulate the environment. The validity of the proposal is confirmed by experiments.