Performance evaluation method of passive force display and rehabilitation system with redundant brakes

Force information in virtual space is important and often required for tele-operation, training, amusement, design supporting, and other virtual reality systems. The application of passive-type force display and rehabilitation system is desirable for its high safety. However, there are some directions and link positions for which it is difficult to display the force using only passive elements. To solve this problem, a method for improvement of controllability using redundant brakes had been suggested. This method made it possible to display various force directions and various postures of virtual objects. In this paper, a novel performance evaluation method for a passive-type force display system with redundant brakes is presented and basic experiments with it discussed.