Concept Verification of Ungrounded Force Display Using Cam

Abstract

Currently, various force display device are under development. There are two types of devices in terms of mounting method: grounded and ungrounded. The conventional grounded type force display device can accurately present the force by mounting on the desk or floor, but the movable range is limited. The ungrounded type device is wearable type, the user is burdened to some extent and there is a great restriction on force display. In order to solve this problem, the force display device that can be handled in the hand using a slider crank mechanism has been proposed. This device uses human sensory characteristics, and force can be presented by asymmetric acceleration motion. Since this device uses rotating bodies and crank mechanisms, there is room for improvement in terms of size and weight. Therefore, we adopted a cam to generate asymmetric acceleration motion for the improvement. By using cams, it is possible to reduce the number of devices and downsize them. In this paper, we propose the mechanism using cam and confirm the realization of left-right asymmetric acceleration motion for force display. In addition the performance of the force display was confirmed through both experiments: quantitative and subjective.