Impulsive force reproduction by environmental copying system considering momentum

Recently, there is much research about training system of skilled operation using virtual reality (VR) technology. In order to realize an advanced training system using VR technology, it is desired that the virtual environment is more similar as the real environment. The environmental copying system has been proposed as one of methods which achieve such demand. This system acquires the information from the real environment based on real-world haptics. However, it is difficult to represent a rigid environment using this system. In this research, the developed environmental copying system is proposed. By considering a momentum, the virtual environment which can reproduce an impulsive force is constructed.