3자유도 힘 반향 역감장치

In this paper, we present the 3DOF force?reflecting interface which allows to acquire force of object within a virtual environment. This system is composed of device, virtual environment model, and force-reflecting rendering algorithm. We design a 3 DOF force-reflecting device using the parallel linkage, torque shared by wire, and the controller of system applied by impedance control algorithm. The force-reflecting behaviour implemented as a function position is equivalent to controlling the mechanical impedance felt by the user. Especially how force should be supplied to user, we know using a God-Object" algorithm As we experiment a system implemented by the interface of 3D virtual object and 3DOF force-reflecting . interface, we can feel a contact, non-contact of 3D virtual object surface and sensing of push button model.