| Budget Amount *help |
¥3,770,000 (Direct Cost: ¥2,900,000、Indirect Cost: ¥870,000)
Fiscal Year 2017: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2016: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2015: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
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| Outline of Final Research Achievements |
This research proposed and discussed a method using a virtual coupling (VC) with fractional derivatives for a haptic interface in a virtual reality system. In this method, the VC uses fractional derivatives instead of a virtual damper that is generally used in a VC. This research derived property of passivity for various approximation methods of a fractional derivative first, then showed that the VC with fractional derivatives can stably display a virtual environment with harder stiffness. It also showed the conditions of a fractional derivative for operators to feel harder surface in a tapping task.
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