Application of a fractional derivative for a virtual coupling in haptic interface

2017 Fiscal Year Final Research Report

• Project/Area Number: 15K00266
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Human interface and interaction
• Research Institution: University of Fukui
• Principal Investigator: Kawai Masayuki 福井大学, 学術研究院工学系部門, 准教授 (00334805)
• Project Period (FY): 2015-04-01 – 2018-03-31
• Keywords: バーチャルリアリティ / 力触覚提示 / 非整数階微分 / バーチャルカップリング

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.

Free Research Field

ロボット工学