等身大仮想環境における力覚提示可能な組立作業システム

Abstract

Immersive projection displays have recently been able to achieve realistic virtual environments. However, they need expensive realistic interactions with virtual objects. Haptic sensation is especially important in some industrial applications where precise simulation of assembly tasks with virtual objects is required. We propose a human-scale assembly simulator with immersive projection displays and haptic interactions. We developed a string-based 6-DOF and both-hands haptic interface that can be used with immersive projection displays. It can effectively and efficiently assist in assembly tasks with virtual objects in virtual workspaces. We describe the details of the proposed system and discuss our evaluation of its performance.