情報処理学会 インタラクション 2016
IPSJ Interaction 2016

161B38
2016/3/2

࣡࢖ࣖ㥑ືᆺ࢙࢘࢔ࣛࣈࣝ 6 ⮬⏤ᗘຊຊぬᥦ♧ࢹࣂ࢖ࢫ
͆SPIDAR-W͇͇Ọ஭୍ᶞ†1 㖹஼䓅†1 ㉥⩚ඞோ†1 బ⸨ㄔ†1
ᴫせ㸸ᮏ◊✲࡛ࡣ࣡࢖ࣖ㥑ືᆺ࢙࢘࢔ࣛࣈࣝ 6 ⮬⏤ᗘຊぬᥦ♧ࢹࣂ࢖ࢫ”SPIDAR-W”ࢆᥦ᱌ࡍࡿ㸬ᮏࢹࣂ࢖ࢫࡣ࣮ࣘࢨࡢ୧ᡭ࡟ 6 ⮬⏤ᗘࡢຊぬᥦ♧ࡀྍ⬟࡛࠶ࡿ㸬࢙࢘࢔ࣛࣈࣝຊぬᥦ♧ࢹࣂ࢖ࢫࡣ㸪࣮ࣘࢨࡀ⮬⏤࡟⛣ື࡛ࡁࡿ≧ែ࡛ࡢຊぬᥦ♧ࢆ┠ⓗ࡜ࡋࡓࢹࣂ࢖ࢫ࡛࠶ࡿ㸬ᚑ᮶ࡢ࢙࢘࢔ࣛࣈࣝᡭ㤳ຊぬᥦ♧⿦⨨ࡣ㸪ᥦ♧࡛ࡁࡿຊぬࡀ୪㐍 3 ⮬⏤ᗘࡢࡳ࡛࠶ࡿ㸪∦ᡭ࡟ࡋ࠿ຊぬᥦ♧ࡀฟ᮶࡞࠸㸪࡜࠸ࡗࡓၥ㢟ࡀ࠶ࡗࡓ㸬ᮏ◊✲࡛㛤Ⓨࡍࡿࢹࣂ࢖ࢫࡣ㸪࣮ࣘࢨࡀ⫼㈇ࡗ࡚౑⏝ࡍࡿࡇ࡜ࢆ᝿ᐃࡋࡓࣇ࣮࣒ࣞ࡟㸪࣮ࣘࢨࡢᡭ㤳ࢆᅖࡴࡼ࠺࡟࣮ࣔࢱࢆタ⨨ࡍࡿࡇ࡜࡛㸪ᡭ㤳࡬ࡢ 6 ⮬⏤ᗘࡢຊぬᥦ♧ࢆᐇ⌧ࡋ࡚࠸ࡿ㸬ࡑࡢࡓࡵ㸪㍍㔞࡞ᶵᵓ࡛㸪୧ᡭ࡬ࡢຊぬᥦ♧ࡀྍ⬟࡛࠶ࡿ㸬ᮏࢹࣂ࢖ࢫ࡟ࡼࡾ㸪࣮ࣘࢨࡢ⮬↛࡞ືసࢆ㜼ᐖࡍࡿࡇ࡜࡞ࡃ㸪ࣂ࣮ࢳࣕࣝ✵㛫࡜ࡢ࢖ࣥࢱࣛࢡࢩࣙࣥࢆᐇ⌧࡛ࡁࡿ㸬

Wire Driven Wearable 6DOF Haptic Device "SPIDAR-W"
Kazuki NAGAI†1 Yihan QIAN†1
Katsuhito AKAHANE†1 Makoto SATO†1 
Abstract: In this paper, we propose wire driven wearable 6 DOF haptic device “SPIDAR-W”. This device gives 6DOF force
feedback to user’s both hands. Wearable haptic devices provide haptic interaction for user without limiting his/her move. Previous
wearable haptic device only possible to provide 3DOF haptic feedback or single hand operation. Our device realize 6 DOF haptic
interaction to use’s wrist by arrange motor surrounding his/her hand on flame that can carry on his back. Therefore, this device
provide haptic feedback to both hands by light and brief mechanism. Our device products more freely interaction with virtual space.

1. ࡣࡌࡵ࡟⪅ࡣ࣡࢖ࣖࡢᖸ΅ࡀⓎ⏕ࡍࡿࡓࡵ⮬⏤࡞᣺ࡾྥࡁࡸ⛣ືࡀ ฟ᮶࡞࠸࡜࠸࠺ၥ㢟ࡀ࠶ࡗࡓ㸬ᮏ◊✲࡛ࡣࡇࡢၥ㢟ࢆゎỴ

㏆ᖺ㸪 HMD ᢏ⾡ࡢྥୖ࡟ࡼࡾ㸪VR ✵㛫࡬ࡢἐධᗘࡣࡍࡿࡓࡵ࡟㸪⿦╔ྍ⬟࡞୧ᡭຊぬᥦ♧⿦⨨ࢆ㛤Ⓨࡍࡿࡇ࡜どぬࡢ㠃࡛㣕㌍ⓗ࡟ྥୖࡋࡓ㸬ࡇࢀ࡟క࠸㸪ே㛫ࡢᡭࡢື࡛㸪࣮ࣘࢨࡀ VR ✵㛫ෆࢆ⮬⏤࡟⛣ືྍ⬟࡞≧ែ࡛ VR ≀ࡁࡸṌ⾜࡞࡝ࡢ㌟యືసࢆ VR ✵㛫࡟཯ᫎࡉࡏࡿࡇ࡜࡛㸪య࡜ࡢゐຊぬࢆకࡗࡓ࢖ࣥࢱࣛࢡࢩࣙࣥࢆᐇ⌧ྍ⬟࡟ࡍࡿVR ≀య࡜࢖ࣥࢱࣛࢡࢩࣙࣥࢆ⾜࠺ࡓࡵࡢ◊✲࣭㛤Ⓨࡀάࡇ࡜ࢆ┠ᶆ࡜ࡍࡿ㸬Ⓨ໬ࡋ࡚࠸ࡿ㸬HTC vive[1]ࡣ࣮࣒ࣝࢫࢣ࣮ࣝࡢ࣮ࣔࢩࣙࣥ
ࢺࣛࢵ࢟ࣥࢢࢆᐇ⌧ࡍࡿ HMD ࡛࠶ࡾ㸪࣮ࣘࢨࡣ┠๓࡟ᗈ

2. ඛ⾜◊✲ࡀࡿ VR ✵㛫ෆࢆ⮬⏤࡟⛣ື࡛ࡁࡿࡼ࠺࡟࡞ࡿࡓࡵ㸪VR ✵ ࢙࢘࢔ࣛࣈࣝࣁࣉࢸ࢕ࢵࢡࢹࣂ࢖ࢫࡢඛ⾜◊✲ࡢ౛࡜ࡋ㛫࡜ࡢ┤ឤⓗ࡞࢖ࣥࢱࣛࢡࢩࣙࣥࡀྍ⬟࡜࡞ࡿ㸬ࡋ࠿ࡋ㸪࡚㸪Gupta ࡽ࡟ࡼࡿࢹࣂ࢖ࢫ[4]ࡀᣲࡆࡽࢀࡿ㸬ࡇࡢࢹࣂ࢖⮬㌟ࡀ VR ⎔ቃࡢ୰࡟Ꮡᅾࡍࡿࡼ࠺࡞యᛶឤぬࢆᚓࡽࢀࡓࢫࡣእ㦵᱁⿦╔ᆺ࡛࠶ࡾ㸪ᡭ㸪⭎㸪⫝࡟ࡑࢀࡒࢀຊぬࢆ୚࡜ࡋ࡚ࡶ㸪VR ≀య࡟ゐࢀࡓឤゐࡀ෌⌧࡛ࡁ࡞ࡅࢀࡤ㸪VR࠼ࡿࡇ࡜ࡀྍ⬟࡛࠶ࡿ㸬ࡋ࠿ࡋ㸪࣮ࣘࢨࡢ⭎࡟ 4Kg ࡢࢹࣂ≀యࡢᐇᅾឤࢆ༑ศ࡟ᚓࡽࢀ࡞࠸㸬ࡑࡢࡓࡵ㸪VR ✵㛫࡬ࡢ࢖ࢫࢆ┤᥋⿦╔ࡍࡿࡓࡵ㸪࣮ࣘࢨ࡬ࡢ㈇ᢸࡣ኱ࡁࡃ㸪ᐇ㝿ἐධឤࡣ๐ࡀࢀ࡚ࡋࡲ࠺㸬VR ✵㛫࡜ࡢゐຊぬࢆకࡗࡓ࢖ࡢ౑⏝᫬࡟ࡣቨ㠃࡞࡝࡟タ⨨ࡋ࡚౑ࢃࢀ࡚࠸ࡿ㸬Letier ࡽࣥࢱࣛࢡࢩࣙࣥࢆ┠ⓗ࡜ࡋࡓ⿦⨨࡜ࡋ࡚㸪VR ≀య࡟ゐࢀ࡟ࡼࡿ SAM[5]ࡣ㸪᥋ᆅ࡞ࡋ࡛࣮ࣘࢨࡢ⭎࡟ຊぬᥦ♧ࡀྍࡓឤぬࡸ㔜㔞ឤࢆ࣮ࣘࢨ࡟ࣇ࢕࣮ࢻࣂࢵࢡࡍࡿຊぬᥦ♧ࢹ⬟࡞እ㦵᱁⿦╔ᆺࢹࣂ࢖ࢫ࡛࠶ࡿࡀ㸪౑⏝ࡣ∦⭎ࡢࡳ࡟㝈ࣂ࢖ࢫࡀ࠶ࡿ㸬ࡋ࠿ࡋ㸪ᬑཬࡋ࡚࠸ࡿຊぬᥦ♧⿦⨨ࡣᮘࡢᐃࡉࢀ࡚ࡋࡲ࠺㸬࣮ࣘࢨࡢ㈇ᢸࢆ㍍ῶࡍࡿࡓࡵ࡟ࡣ㸪⫼㈇ୖ࡞࡝࡟ᅛᐃࡋ࡚౑⏝ࡍࡿࡶࡢࡀከࡃ㸪࣮ࣘࢨࡀືࡁ࡞ࡀࡗ࡚⿦╔࡛ࡁࡿᶵᵓࡀ᭱㐺࡛࠶ࡿ㸬Kossyk ࡟ࡼࡿࢹࣂ࢖ࢫࡽ౑⏝ࡍࡿࡇ࡜ࡣฟ᮶࡞࠸ࡓࡵ㸪⮬㌟ࡀ VR ✵㛫ෆ࡟࠸ࡿ[6]ࡣ㸪㔜㔞ࡢ࠶ࡿຊぬᥦ♧ᶵᵓࢆࣜࣗࢵࢡࢧࢵࢡࡢࡼ࠺࡟యᛶឤぬࢆᚓࡿࡇ࡜ࡣ㞴ࡋ࠸㸬ࣄ࣮࣐ࣗࣥࢫࢣ࣮ࣝࡢຊぬ⫼㈇࠺ᙧ≧ࡢࢹࣂ࢖ࢫ࡛࠶ࡿ㸬ࡋ࠿ࡋ㸪ᶵᲔᘧࡢࢩࣜ࢔ࣝᥦ♧ࢆᐇ⌧ࡍࡿࡓࡵ࡟㸪GROPE[2]ࡸ Big-SPIDAR[3]࡞࡝ࡀ

ࣜࣥࢡ㥑ື࡛࠶ࡿࡓࡵ࡟㸪ᶵᵓࡀ」㞧࡛࠶ࡾ㸪㔜㔞ࡶ 13Kg㛤Ⓨࡉࢀࡓ㸬ࡋ࠿ࡋ㸪๓⪅ࡣࢹࣂ࢖ࢫࡀኳ஭࡟᥋ᆅࡉࢀ࡚࡜㔜ࡃ࡞ࡗ࡚ࡋࡲࡗ࡚࠸ࡿ㸬ᘅ℩ࡽ࡟ࡼࡿ HapticGEAR[7]࠸ࡿࡓࡵ㸪࣮ࣘࢨࡀ⛣ື࡛ࡁࡿ㡿ᇦࡀ㝈ࡽࢀ࡚ࡋࡲ࠺㸪ᚋࡣ㸪CAVE[8]࡞࡝ࡢἐධᆺࢫࢡ࣮ࣜࣥෆ࡛ࡢ౑⏝ࢆ┠ⓗ࡜†1 ᮾிᕤᴗ኱Ꮫ ⢭ᐦᕤᏛ◊✲ᡤ  Precision and Intelligence Laboratory, Tokyo Institute of Technology © 2016 Information Processing Society of Japan315

情報処理学会 インタラクション 2016
IPSJ Interaction 2016

161B38
2016/3/2

ᅗ 1 SPIDAR-W ᴫᛕᅗ
Figure 1

Consept of SPIDAR-Wࡋࡓࢹࣂ࢖ࢫ࡛࠶ࡿ㸬࣡࢖ࣖࢆྲྀࡾ௜ࡅࡓ࣌ࣥඛࢆ௓ࡋ㸪VR ≀య࡜ࡢຊぬࢆకࡗࡓ࢖ࣥࢱࣛࢡࢩࣙࣥࢆᐇ⌧ࡋ࡚࠸ࡿࡀ㸪ᥦ♧࡛ࡁࡿຊぬࡣ୪㐍 3 ⮬⏤ᗘࡢࡳ࡛࠶ࡿ㸬 ࡑࡇ࡛ᡃࠎࡣ࢙࢘࢔ࣛࣈࣝ 6 ⮬⏤ᗘຊぬᥦ♧ࢹࣂ࢖ࢫ SPIDAR-W
ࡢᥦ᱌ࢆ⾜ࡗࡓ[9]㸬ࡋ࠿ࡋ㸪௨๓ࡢ SPIDAR-W ࡣ⿦╔ࡋ࡟ࡃ࠸ࣇ࣮࣒ࣞᙧ≧࡛࠶ࡾ㸪࢚ࣥࢻ࢚ࣇ࢙ࢡࢱࡣ࣮ࣘࢨࡢᡭ㤳࡟ᅛᐃࡋ࡚౑⏝ࡍࡿᚲせࡀ࠶ࡗࡓࡓࡵ㸪࢔ࢡࢭࢫࣅࣜࢸ
࢕ࡣప࠿ࡗࡓ㸬ࡇࢀࡽࡢၥ㢟ࢆゎỴࡍ࡭ࡃ㸪SPIDAR-W ࡢ
ᨵⰋࢆ⾜ࡗࡓ㸬ᅗ 2 SPIDAR-I ᵓᡂࣔࢹࣝᅗ 2 Structure of SPIDAR-Iࡑࡢ㓄⨨ἲ࡟ᇶ࡙ࡁ∦ᡭศࡢ࢚ࣥࢻ࢚ࣇ࢙ࢡࢱ࡟ 8 ᮏࡢ࣡࢖ࣖࢆྲྀࡾ௜ࡅ࡚࠸ࡿ㸬ࡇࡢᶵᵓࢆᕥྑࡑࢀࡒࢀࡢᡭ࡟㐺⏝ࡍࡿࡇ࡜࡛㸪୧ᡭ࡬ࡢ 6 ⮬⏤ᗘࡢຊぬᥦ♧ࡀྍ⬟࡜࡞ࡿ㸬3.3 ࢹࣂ࢖ࢫᵓᡂ ࢹࣂ࢖ࢫ඲యࢆ⫼୰࡟⫼㈇࠺ࡓࡵ࡟ࡣ㸪࣮ࣘࢨ࡟㈇ᢸࡀ᥃࠿ࡽ࡞࠸ࡼ࠺࡞㔜㔞ࡢࢹࣂ࢖ࢫ࡛࠶ࡿࡇ࡜ࡀᮃࡲࡋ࠸㸬ࡑࡢࡓࡵ㸪ࣇ࣮࣒ࣞᮦᩱ࡟ࡣẚ㍑ⓗ㍍㔞࡞࢔࣑ࣝࣃ࢖ࣉࢆ㑅ᢥࡍࡿ㸬DC ࣮ࣔࢱ࡟ࡣ㸪㔜㔞࠾ࡼࡧࢥࢫࢺࢆ⪃៖ࡋ࡚࣐

3. ᥦ᱌ᡭἲࣈࢳ࣮ࣔࢱ࣮ᰴᘧ఍♫〇ࡢ RF-320EH ࢆ౑⏝ࡍࡿ㸬࢚ࣥࢻ

3.1 ᥦ᱌ࢹࣂ࢖ࢫ࢚ࣇ࢙ࢡࢱࡣ㸪࣮ࣘࢨࡀ୧ᡭ࡟ᢕᣢࡋ࡚౑⏝࡛ࡁࡿᙧ≧࡛ᮏ◊✲࡛ࡣ࣡࢖ࣖ㥑ືᆺࡢ࢙࢘࢔ࣛࣈࣝࢹࣂ࢖ࢫ࠶ࡿࡇ࡜ࡀồࡵࡽࢀࡿ㸬ࢹࣂ࢖ࢫタィ᫬࡟ࡣ㸪ࣇ࣮࣒ࣞ࡜SPIDAR-W ࢆᥦ᱌ࡍࡿ㸬ࢹࣂ࢖ࢫࡣ㍍㔞࡞ࣇ࣮࣒ࣞ㸪DC ࣔ࣡࢖ࣖࡀ⿦╔᫬࡟㑧㨱࡟࡞ࡽ࡞࠸ࡼ࠺࡟㸪࣮ࣔࢱࡸࣇ࣮࣮ࣞࢱ㸪࢚ࣥࢻ࢚ࣇ࢙ࢡࢱ㸪࣮ࣔࢱไᚚ⏝ᇶ┙࡛ᡂࡾ❧ࡗ࡚࣒ࡢ㓄⨨ࢆỴࡵࡿᚲせࡀ࠶ࡿ㸬ࡉࡽ࡟㸪VR ≀యࡢ᧯సࢆࡍ࠾ࡾ㸪ࡲࡓ࣮ࣘࢨࡀ⫼㈇ࡗ࡚౑⏝ࡍࡿࡇ࡜ࡀฟ᮶ࡿᙧ≧࡜ࡿ㝿࡟༑ศ࡞ຊぬᥦ♧㡿ᇦࢆ☜ಖࡍࡿࡇ࡜ࡶ㔜せ࡛࠶ࡿ㸬࡞ࡗ࡚࠸ࡿࡓࡵ㸪࣮ࣘࢨ࡟୚࠼ࡿ㈇ᢸࢆ㍍ῶྍ⬟࡛࠶ࡿ㸬

AIST ேయᑍἲࢹ࣮ࢱ࣮࣋ࢫ[13]ࡼࡾ㸪ே㛫ࡢቨ㠃࣭ᥱࡾ㍈ࡲࡓ㸪࣡࢖ࣖ㥑ືᆺ࡛࠶ࡿࡓࡵ⡆⣲࡞ᶵᵓ࡛ 6 ⮬⏤ᗘࡢຊ㸦⫝࠿ࡽᥱࡾᣙࡲ࡛ࡢ㛗ࡉ㸧ࡢᑍἲࡣᖹᆒ 318.3mm ࡛࠶ࡾ㸪ぬᥦ♧ࡀ ྍ⬟࡜࡞ ࡿ㸬 ࣘ ࣮ ࢨ࡬ࡢᫎ ീᥦ♧࡟ ࡣ Oculus⫪ᖜࡣᖹᆒ 432.8mm ࡛࠶ࡿ 㸬ࡲࡓ㸪⭎ࢆఙࡤࡋࡁࡗࡓ࡜rift[10]ࢆ౑⏝ࡋ㸪VR ✵㛫࡬ࡢどぬⓗ࡞ἐධᗘࢆྥୖࡉࡏࡁࡢ㛗ࡉࡢᖹᆒࡣ㸪687.7mm ࡛࠶ࡿ㸬ࡲࡓ㸪๓⭎ࡢእ᪕ゅࡿ㸬SPIDAR-W ࡢᴫせᅗࢆᅗ 1 ࡟♧ࡍ㸬

ࡣ 60r㸪ෆ᪕ゅࡣ 80r㸪ୖୗࡢᒅ᭤ゅࡣ 145r࡛࠶ࡿ㸬ࡇ3.2 ࢩࢫࢸ࣒ᵓᡂࡢࡇ࡜ࡼࡾ㸪ᕥྑ 984.2mm๓᪉ 687.7mmୖୗ 485.7mm

 ᮏࢹࣂ࢖ࢫ࡛ࡣຊぬᥦ♧⿦⨨ SPIDAR[11]࡟ᇶ࡙ࡁ㸪ᡭ㤳ࢆ⭎ࡢ᭱኱ྍືᇦ࡜⪃࠼タィࢆ⾜࠺ᚲせࡀ࠶ࡿ㸬࡟ຊぬᥦ♧ࢆ⾜࠺ᶵᵓࢆᵓ⠏ࡍࡿ㸬SPIDAR ࡛ࡣ࢚ࣥࢻ࢚

4. タィ㛤Ⓨࣇ࢙ࢡࢱ࡟࣡࢖ࣖࢆྲྀࡾ௜ࡅ㸪࣡࢖ࣖࡢᙇຊࢆ࣮ࣔࢱ࡛ไ
ᚚࡍࡿࡇ࡜࡛ᡭ㤳࡬ࡢຊぬᥦ♧ࢆᐇ⌧ࡋ࡚࠸ࡿ㸬ࡲࡓ㸪࣡࢖ࣖ㛗࠿ࡽ࢚ࣥࢻ࢚ࣇ࢙ࢡࢱࡢ఩⨨ጼໃࢆồࡵࡿࡇ࡜ࡀฟ᮶ࡿ㸬ᮏ◊✲࡛ࡣ୪㐍 3 ⮬⏤ᗘ㸪ᅇ㌿ 3 ⮬⏤ᗘࡢ 6 ⮬⏤ᗘࡢຊぬᥦ♧ࢆ┠ⓗ࡜ࡍࡿࡓࡵ㸪ྠࡌࡃ 6 ⮬⏤ᗘࡢຊぬᥦ♧ࡀྍ⬟࡞ SPIDAR-I[12]ࢆཧ⪃࡜ࡋ࡚࣮ࣔࢱ࡜࣡࢖ࣖࡢ㓄⨨ࢆỴᐃࡍࡿ㸬SPIDAR-I ࡣᅗࡢࡼ࠺࡟࢚ࣥࢻ࢚ࣇ࢙ࢡࢱࡢୖୗ࡟┤஺ࡍࡿࡼ࠺࡟࣡࢖ࣖࡢฟཱྀࢆ㓄⨨ࡍࡿࡇ࡜࡛㸪
6 ⮬⏤ᗘࡢຊぬᥦ♧ࢆᐇ⌧ࡋ࡚࠸ࡿ㸬஬༑ᔒࡽࡢㄽᩥ[12]࡛
ࡣ㸪SPIDAR-I ࡟࠾࠸࡚఩⨨ጼໃィ

4.1 ࣮ࣔࢱࣔࢪ࣮ࣗࣝタィᮏࢹࣂ࢖ࢫࡢ࣮ࣔࢱࣔࢪ࣮࡛ࣗࣝࡣ࣡࢖ࣖ࡬᭱పᙇຊ
ࢆ୚࠼ࡿࡓࡵ࡟㸪ࢮ࣐ࣥ࢖ࣂࢿࢆ౑⏝ࡋ࡚࠸ࡿ㸬ᅗ 3 ࡟࣮ࣔࢱࣔࢪ࣮ࣗࣝࡢᅗࢆ♧ࡍ㸬ࣔࢪ࣮ࣗࣝ࡟ࡣ࣮ࣟࢱ࣮࢚ࣜࣥࢥ࣮ࢲ㸪ࣉ࣮ࣜ㸪ࢮ࣐ࣥ࢖ࣂࢿࡀ⤌ࡳ㎸ࡲࢀ࡚࠸ࡿ㸬࣮ࣟࢱ࣮࢚ࣜࣥࢥ࣮ࢲࡢࢭࣥࢧ࣮࡜ࢮ࣐ࣥ࢖ࣂࢿࡀືసࡓࡵ࡟ᚲせ࡞࢟ࣕࣅࢸ࢕ࢆࡑࢀࡒࢀ☜ಖࡍࡿࡓࡵ࡟඲㛗 30mm
30mm170mm ⛬ᗘࡢ኱ࡁࡉ࡜࡞ࡗ࡚࠸ࡿ㸬ࡢ⢭ᗘࡀ᭱኱࡜࡞ࡿࡼ࠺࡞࣮ࣔࢱ࡜࣡࢖ࣖࡢ㓄⨨ࡀグ㏙ࡉࢀ࡚࠸ࡿ㸬ᮏ◊✲࡛ࡣ© 2016 Information Processing Society of Japan316

情報処理学会 インタラクション 2016
IPSJ Interaction 2016

161B38
2016/3/2

ᅗ 3 ࣮ࣔࢱࣔࢪ࣮ࣗࣝFigure 3

Structure Motor moduleᅗ 4 SPIDAR-W ຊぬᥦ♧㡿ᇦ࡜⭎ࡢྍືᇦ(ಠ▔ᅗ)࣮ࣔࢱ㍈࡟ࢮ࣐ࣥ࢖ࣂࢿࢆྲྀࡾ௜ࡅࡿࡇ࡜࡛㸪ࣉ࣮ࣜ࡜㐃

Figure 4 Motor position, arm movement rangeືࡉࡏࡿࡇ࡜ࡀྍ⬟࡛࠶ࡿ㸬ᇶᮏⓗ࡟ࢮ࣐ࣥ࢖ࡢຊࢆゎᨺand force presentable area (bird’s-eye view)ࡍࡿ࡜ࡁ࡟⣒ࢆᕳࡁ㸪⣒ࡀᘬࡗᙇࡽࢀࡿ᫬࡟ࢮ࣐ࣥ࢖ࢆᕳࡃࡼ࠺࡟ࢭࢵࢺࡍࡿ㸬ࢮ࣐ࣥ࢖࡟࠿࠿ࡿຊࡣ㸪kφ=Fl࡛⾲ࡍࡇ࡜ࡀ࡛ࡁࡿ(ᅗ 3)㸬ࡇࡇ࡛㸪k ࡣࣂࢿᐃᩘ㸪φ ࡣᕳᅇᩘ㸪F ࡣຊ㸪l ࡣ⣒ࡢࢫࢺ࣮ࣟࢡ࡛࠶ࡿ㸬ࡇࢀ࡟ࡼࡗ࡚㸪㟁※ࡀ OFF ࡢ≧ែ࡛ࡶ㔜ຊ࡟ࡼࡿ⣒ࡢᘱࡳࢆ㜼Ṇࡍࡿࡇ࡜ࡀྍ⬟࡜࡞ࡾ㸪ᖖ࡟᭱పᙇຊࢆᙇࡿࡇ࡜ࡀ࡛ࡁࡿ㸬ࡇࡢࡇ࡜࡟ࡼࡾ㸪࢚ࣥࢻ࢚ࣇ࢙ࢡࢱࢆᖖ࡟୰✵࡛ᅛᐃ࡛ࡁࡿࡼ࠺࡟࡞ࡾ㸪⣒ࡢ⤡ࡲࡾࢆ㜵ࡄࡇ࡜ࡀฟ᮶ࡿ㸬 ࢮ࣐ࣥ࢖ࣂࢿࡣ㛗ࡉ 1980mm ཌࡉ 0.1mm ࡢ㠀᥋ゐᆺᕳࡁࣂࢿࢆ౑⏝ࡋ࡚࠾ࡾ㸪ࡇࢀࢆ 250mm ࡢ✵㛫࡟ࢭࢵࢺࡍࡿࡇ࡜࡛⣙ 1m ⛬ᗘࡢ⣒ࡢࢫࢺ࣮ࣟࢡࢆ⏕ࡳฟࡍࡇ࡜ࡀྍ⬟࡜࡞ࡿ㸬ࡲࡓ㸪ࢮ࣐ࣥ࢖ࣂࢿࡀ᭱పᙇຊࢆᙇࡿࡇ࡜ࡀ࡛ࡁࡿࡓࡵ㸪࣮ࣔࢱࡢ࣏ࢸࣥࢩࣕࣝࢆ඲࡚ᥦ♧ຊ࡟౑⏝ࡍࡿࡇ࡜ࡀྍ⬟࡜࡞ࡿ㸬
4.2 ࣮ࣔࢱ㓄⨨ᅗ 5 SPIDAR-W ຊぬᥦ♧㡿ᇦ࡜⭎ࡢྍືᇦ(ഃ㠃ᅗ)
Figure 5 Motor position, arm movement range
and force presentable area (side view)

SPIDAR ࡛ࡣ࣮ࣔࢱ࡛ᅖࡲࢀࡓ⠊ᅖࡀ 6 ⮬⏤ᗘࡢຊぬᥦ♧㡿ᇦ࡜࡞ࡿ㸬ࡑࡢࡓࡵ㸪๓㏙ࡢ⭎ࡢྍືᇦ࡜ 6 ⮬⏤ᗘᥦ♧ࡀྍ⬟࡛࠶ࡾ㸪๓⭎ࡢྍືᇦࢆ࢝ࣂ࣮ࡋ࡚࠸ࡿࡇ࡜ࡀ

ຊぬᥦ♧㡿ᇦࡀ㔜␚ࡍࡿࡼ࠺࡟࣮ࣔࢱࡢ㓄⨨ࢆ⾜࠺ᚲせࡀࢃ࠿ࡿ㸬ḟ࡟㸪࣮ࣔࢱ␒ྕ࡜ SPIDAR-W ࡢᗙᶆ⣔ࢆᅗ 6 ࡟࠶ࡿ㸬6 ⮬⏤ᗘຊぬᥦ♧㡿ᇦࡢ኱ࡁࡉࡣ㸪࣮ࣔࢱ㛫㝸ࡢ኱♧ࡍ㸬ᮏࢹࣂ࢖ࢫࡢᗙᶆ⣔ࡣ㸪࣮ࣘࢨࡢయ࡟ᑐࡋᕥྑ᪉ྥ

ࡁࡉ࡟౫Ꮡࡍࡿ㸬ࡑࡢࡓࡵ㸪ࣇ࣮࣒ࣞࡣ࣮ࣔࢱ㛫㝸ࢆ☜ಖ࡟ X ㍈㸪ୖୗ᪉ྥ࡟ Y ㍈㸪๓ᚋ᪉ྥ࡟ Z ㍈ࢆタᐃࡋࡓᕥ࡛ࡁࡿᙧ≧࡛࡞ࡅࢀࡤ࡞ࡽ࡞࠸㸬ᮏㄽᩥ࡛ࡣ 500mm ࡢࣔᡭᗙᶆ⣔࡜࡞ࡗ࡚࠸ࡿ㸬ᗙᶆ⣔ࡢཎⅬࡣࡑࢀࡒࢀࡢᡭࡈ࡜࣮ࢱ㛫㝸ࢆ☜ಖࡋ㸪࠿ࡘே㛫ࡀ⮬↛࡟ື࠿ࡏࡿ⭎ࡢ⠊ᅖ࡟࡟タᐃࡉࢀ࡚࠾ࡾ㸪ୗഃࡢࣇ࣮࣒ࣞ࡟㓄⨨ࡋ࡚࠸ࡿ࣮ࣔࢱᑐࡋ࡚ຊぬᥦ♧ࡀ⾜࠼ࡿࡼ࠺࡟ࣇ࣮࣒ࣞࢆタィࡋࡓ㸬ࡑࡢ㛫ࡢ୰ᚰⅬ(5㸪6 ␒࣮ࣔࢱ࡜ 7㸪8 ␒࣮ࣔࢱࡢ୰Ⅼ)࡜ୖഃࡢ

⤖ᯝ㸪6 ⮬⏤ᗘࡢຊぬᥦ♧ࡀྍ⬟࡞㡿ᇦࢆᐇ⥺㸪⭎ࡢ᭱኱ࣇ࣮࣒ࣞࢆࡘ࡞࠸ࡔ┤⥺ࡢ୰Ⅼ࡟タᐃࡋ࡚࠸ࡿ㸬⾲ 1 ࡣྍືᇦࢆ◚⥺࡛ᅖࡴ࡜㸪ᅗ 4 ࡢ㡿ᇦ࡜࡞ࡿ㸬ࡇࡢ࡜ࡁ㸪∦

SPIDAR-W ᗙᶆ⣔࡟࠾ࡅࡿ࣮ࣔࢱ఩⨨ࢆࡲ࡜ࡵࡓࡶࡢ࡛࠶

ᡭ࡟ᑐࡋ࡚ᕥྑ 500mm*๓᪉ 500mm*ୖୗ 700mm ࡢ㡿ᇦ࡟ࡿ㸬ᕥྑࡢᡭ࡛ྠࡌᵓᡂ࡜࡞ࡗ࡚࠸ࡿࡓࡵ㸪ᮏㄽᩥ࡛ࡣྑ

ຊぬᥦ♧ࡀྍ⬟࡛࠶ࡿ㸬ࡲࡓ㸪୰ኸ㒊࡟㛵ࡋ࡚ࡶ㸪᪉ྥࡣᡭࡢ࣮ࣔࢱࡢᗙᶆࡢࡳࢆグ㏙ࡍࡿ㸬㝈ᐃࡉࢀࡿࡀຊぬᥦ♧ࡣྍ⬟࡛࠶ࡿ㸬ࡑࡢࡓࡵ㸪᭱኱ᕥྑ
1000mm*๓᪉ 500mm*ୖୗ 700mm ࡀຊぬᥦ♧㡿ᇦ࡜࡞ࡿ㸬ࡋࡓࡀࡗ࡚㸪⭎ࡀ⮬↛࡟ືࡃ⠊ᅖࢆ༑ศ࡟࢝ࣂ࣮ࡋࡓ㡿ᇦ࡜࡞ࡿ㸬ୖୗ᪉ྥ࡟ᑐࡋ࡚ࡣ㸪ᅗ 5 ࡢ㉥ᯟෆ࡟ᑐࡋ࡚ຊぬ© 2016 Information Processing Society of Japan317

情報処理学会 インタラクション 2016
IPSJ Interaction 2016

161B38
2016/3/2

ᅗ 6 ࣮ࣔࢱ␒ྕ࡜ SPIDAR-W ᗙᶆ⣔
Figure 6 Motor number and coordinate system ofᅗ 7 SPIDAR-I ࡟࠾ࡅࡿ࣮ࣔࢱ࡜࢚ࣥࢻ࢚ࣇ࢙ࢡࢱࡢSPIDAR-Wᶍᘧᅗ
Figure 7⾲ 1 ྑᡭ࣮ࣔࢱࡢᗙᶆ

Positional relationship of motor and end
effector in SPIDAR-I

Table 1 Position of the motor of right handX[mm]࣮ࣔࢱ␒ྕY[mm]Z[mm]タィࡋࡓ㸬ᅗ 7 ࡟࢚ࣥࢻ࢚ࣇ࢙ࢡࢱࡢእ᥋⌫࡜࣮ࣔࢱࡢ㛵

1-250.0

350.0

-15.0

ಀࢆグࡋࡓᶍᘧᅗࢆグ㍕ࡍࡿ㸬౑⏝ࡋࡓࣃ࣓࣮ࣛࢱ(R, RA,

2-250.0

350.0

15.0

RB, RC, θ)ࡣ௨ୗࡢ࡜࠾ࡾ࡛࠶ࡿ㸬3

250.0

350.0

-15.0

4

250.0

350.0

15.0

5-15.0-350.0

250.0

6

15.0

-350.0250.0

7-15.0-350.0-250.08

15.0-350.0-250.04.3 ࣇ࣮࣒ࣞタィ

R:࢚ࣥࢻ࢚ࣇ࢙ࢡࢱࡢእ᥋⌫ࡢ༙ᚄ
RA: (࢚ࣥࢻ࢚ࣇ࢙ࢡࢱࡢ࣡࢖ࣖྲྀࡾ௜ࡅ఩⨨㛫ࡢ㊥㞳)/2RB: (࣮ࣔࢱ㛫㝸)/2
RC: (࣮ࣔࢱࡢୖୗ㛫ࡢ㛫㝸)/2θ:እ᥋⌫ࡢ୰ᚰ࠿ࡽ࣡࢖ࣖྲྀࡾ௜ࡅⅬࡲ࡛ࡢゅᗘࡲࡓ㸪ྛࣃ࣓࣮ࣛࢱ㛫ࡢ㛵ಀࡣ௨ୗࡢ㏻ࡾ࡛࠶ࡿ㸬 ࣇ࣮࣒ࣞࡣ࢔࣑ࣝࣃ࢖ࣉࢆ᭤ࡆຍᕤࡋࡓࡶࡢࢆࡘ࡞ࡂྜࡾ࡭ ൌ ࡾࢉ࢕࢙ࣂࢃࡏࡿࡇ࡜࡛సᡂࡋ࡚࠸ࡿ㸬ࡑࡢࡓࡵ㸪㍍㔞࡞ࣇ࣮࣒ࣞ࡜ࡾ࡮ ൌ ࡾ ࢉ࢕࢙ࣂΤ࢙࢏࢔ ࣂ࡞ࡗ࡚࠸ࡿ㸬ࡇࡢࣇ࣮࣒ࣞࡢ≉ᚩ࡜ࡋ࡚㸪ୖഃࡢࣇ࣮࣒ࣞࡾ࡯ ൌ ࡾȀ࢙࢏࢔ࣂࡣ㸪HMD ࡜ࣇ࣮࣒ࣞ࡜ࡀᖸ΅ࡋ࡞࠸ࡼ࠺࡟㸪HMD ࡢྍື㡿ᇦࢆ☜ಖࡋࡓసࡾ࡟࡞ࡗ࡚࠸ࡿ㸬ࡲࡓ㸪ୗഃࡢࣇ࣮࣒ࣞࡶ࢚࢘ࢫࢺ࡟ᑐࡋ࡚ࡺ࡜ࡾࢆᣢࡓࡏࡓ኱ࡁࡉ࡜࡞ࡗ࡚࠾ࡾ㸪⿦╔᫬࡟ឤࡌࡿ❓ᒅࡉࢆ㍍ῶࡉࡏ࡚࠸ࡿ㸬ࡲࡓ㸪⫼୰ഃࡢ⤖ྜ㒊ࢆ㍈࡟ୖୗࡢࣇ࣮࣒ࣞࡀᅇ㌿ࡍࡿࡓࡵ㸪౑⏝ࡍࡿ⏝㏵࡟ྜࢃࡏ࡚ࣇ࣮࣒ࣞࡢୖୗ㛫ࡢ㛫㝸ࢆㄪᩚࡋࡓࡾ㸪㐠ᦙ஬༑ᔒࡽࡢㄽᩥ[11]࡛ࡣ㸪఩⨨ጼໃィࡿ㸬ࡋࡓࡀࡗ࡚㸪⌧ᅾ RB=500(mm)/2=250(mm)࡜ࡋ࡚ࢢࣜࢵ
ࣉࡢ᭱㐺࡞ᙧ≧ࢆ⪃࠼ࡿ࡜㸪R ࡣ᫬࡟ࢹࣂ࢖ࢫࢆᢡࡾࡓࡓࢇ࡛㐠ࢇࡔࡾࡍࡿࡇ࡜ࡀྍ⬟࡜࡞ࡗ࡚࠸ࡿ㸬ࢹࣂ࢖ࢫࡢ᭱኱ᶓᖜࡣ 1080mm㸪᭱኱⦪ᖜࡣ
950mm㸪᭱኱㧗ࡉࡣ 780mm ࡛࠶ࡾ㸪1m ᅄ᪉ࢆ኱ࡁࡃ㉺࠼࡞࠸኱ࡁࡉ࡜࡞ࡗ࡚࠸ࡿ㸬
4.4 ࢚ࣥࢻ࢚ࣇ࢙ࢡࢱタィᡭ㤳࡟ຊぬࢆ୚࠼ࡿࡓࡵࡢ࢚ࣥࢻ࢚ࣇ࢙ࢡࢱࡢᙧ≧ࡣ㸪఩⨨࣭ጼໃィ

ࡢᛅᐇᗘࡀ᭱㐺໬ࡉࢀࡓࣃ࣓࣮ࣛࢱࢆᇶ࡟

© 2016 Information Processing Society of Japan࡟㐺ࡋࡓゅᗘࡣ

θ=35.264 ࡛࠶ࡾ㸪ࡇࡢ࡜ࡁ࢙࢏࢔ ߠ ൌ ξ͵Ȁ͵,ࢉ࢕࢙ ߠ ൌ ξ͸Ȁ͵࡛࠶

R=RB sinθ/cosθࡾ ൌ ૛૞૙Ȁξ૛ ൌ ૚ૠ૟Ǥ ૠૡሺ࢓࢓ሻ࡜࡞ࡿ㸬ࡇࡢ࡜ࡁࡾ࡭ ൌ ૚ૠ૟Ǥ ૠૡ ‫ כ‬ሺξ૟Ȁ૜ሻ ൌ ૚૝૝Ǥ ૜૝ሺ࢓࢓ሻ࡜࡞ࡿ㸬ࡇࡢ್ࢆᇶ࡟㸪࢚ࣥࢻ࢚ࣇ࢙ࢡࢱࡢタィࢆ⾜࠺࡜㸪318情報処理学会 インタラクション 2016
IPSJ Interaction 2016

161B38
2016/3/2

ᅗ 8 ࢚ࣥࢻ࢚ࣇ࢙ࢡࢱタィᅗ
Figure 8

End effector designᅗ 10 SPIDAR-W 3D ࣔࢹࣝ
Figure 10 3D model of SPIDAR-W

ᅗ 9 ࢚ࣥࢻ࢚ࣇ࢙ࢡࢱᵓᡂFigure 9

End effector structureᅗ 11 SPIDAR-W ⿦╔ᅗ
Figure 11

Shouldering SPIDAR-W

࢚ࣥࢻ࢚ࣇ࢙ࢡࢱࡢ⣒ྲྀࡾ௜ࡅཱྀྠኈࢆ┤⥺࡛⤖ࡪ࡜㸪ᅗ
8 ࡢࡼ࠺࡟୍㎶ࡀ 288.68mm ࡜࡞ࡿᅄ㠃యࡀᵓᡂࡉࢀࡿᙧ

࢚ࣇ࢙ࢡࢱࢆ㏻ࡋ࡚࣮ࣘࢨ࡟ᥦ♧ࡉࢀ㸪࣮ࣘࢨࡀ VR ≀≧࡟࡞ࡿ㸬࢚ࣥࢻ࢚ࣇ࢙ࢡࢱࡣ 2 ᮏࡢ᭤⥺ࣃ࢖ࣉࢆࡘ࡞ࡂయࢆゐࡗࡓࡾື࠿ࡋࡓࡾࡋࡓឤぬࢆᚓࡿࡇ࡜ࡀ࡛ࡁࡿ㸬ࣇྜࢃࡏࡿࡇ࡜࡛సᡂࡋ࡚࠸ࡿ㸬ࡑࡢ㝿㸪ᅄ㠃యࡢ୰ᚰ࡟ Wii࣮࣒ࣞࡢࡳࡢ㔜ࡉࡣ 4Kg㸪࣮ࣔࢱࢆྵࡵࡓࢹࣂ࢖ࢫ඲యࡢ

ࢾࣥࢳࣕࢡ[14]ࢆ㓄⨨ࡍࡿࡓࡵ㸪ࡲࡓ୧ᡭࢆ㏆࡙ࡅ࡚సᴗ

㔜㔞ࡣ 5Kg ࡛࠶ࡾ㸪ᚑ᮶ࡢ⫼㈇ࡗ࡚౑࠺ࢹࣂ࢖ࢫ࡜ẚ㍑ࡍ

ࡋࡓ࡜ࡁ࡟࢚ࣥࢻ࢚ࣇ࢙ࢡࢱྠኈࡢᖸ΅ࢆ㜵ࡄࡓࡵ࡟㸪ࣃࡿ࡜㍍㔞࡛࠶ࡿ࢖ࣉࡢ஺ᕪⅬࢆᅄ㠃యࡢ୰ᚰ࠿ࡽ 100mm ࡯࡝ෆഃ࡟ࡎࡽࡋ࡚࠸ࡿ㸬సᡂࡋࡓ࢚ࣥࢻ࢚ࣇ࢙ࢡࢱࢆᅗ 9 ࡟♧ࡍ㸬࣮ࣘ

5. ࡲ࡜ࡵࢨࡣ Wii ࢾࣥࢳࣕࢡ࡟ࡼࡾ㸪≀యࢆᥗࡴ࣭㞳ࡍ࡜࠸ࡗࡓືᮏ◊✲࡛ࡣ୧ᡭ࡟ 6 ⮬⏤ᗘࡢຊぬᥦ♧ࡀྍ⬟࡞࣡࢖ࣖ㥑సࡸ㸪ᡭࡢ఩⨨ࡢ࢟ࣕࣜࣈ࣮ࣞࢩࣙࣥࢆ⾜࠺ࡇ࡜ࡀྍ⬟࡟ືᆺ࢙࢘࢔ࣛࣈࣝࣇ࢛࣮ࢫࢹ࢕ࢫࣉࣞ࢖ SPIDAR-W ࡢ㛤࡞ࡿ㸬Ⓨࢆ⾜ࡗࡓ㸬ࡇࡢࢹࣂ࢖ࢫࡣ㍍㔞࡞࢔࣑ࣝࣃ࢖ࣉ㸪DC ࣮ࣔ

4.5 SPIDAR-W ඲యᅗࢱ㸪࣡࢖࡛ࣖᵓᡂࡉࢀࡿࡓࡵ㍍㔞࡛࠶ࡾ㸪⫼㈇ࡗ࡚౑⏝࡛ୖグࡢ㆟ㄽࢆᇶ࡟タィࡋࡓ SPIDAR-W ࡢ 3D ࣔࢹࣝࢆᅗࡁࡿࡓࡵ㸪እ㦵᱁ᆺࡢࢹࣂ࢖ࢫ࡜ẚ㍑ࡋ࡚࣮ࣘࢨ࡟୚࠼ࡿ

10 ࡟㸪࣮ࣘࢨࡀ SPIDAR-W ඲యࢆ⿦╔ࡋࡓ࡜ࡁࡢ඲యᅗ㈇ᢸࢆῶࡽࡍࡇ࡜ࡀྍ⬟࡛࠶ࡿ㸬ࡲࡓ㸪⭎ࡢྍື⠊ᅖࢆࡶ

ࢆᅗ 11 ࡟♧ࡍ㸬࣮ࣘࢨࡣ SPIDAR-W ࢆࣜࣗࢵࢡࡢࡼ࠺࡟࡜࡟ࣇ࣮࣒ࣞᙧ≧࡜࣮ࣔࢱࡢ㓄⨨ࢆỴᐃࡋ㸪ࡑࡇ࠿ࡽᡭࡢ⫼㈇࠸㸪࣋ࣝࢺ࡛య࡟ᅛᐃࡍࡿ㸬࣮ࣘࢨࡢ㢌㒊࡟⿦╔ࡉࢀ఩⨨࣭ጼໃࡢィࡓ HMD ࡼࡾ࣮ࣘࢨࡢ┠ࡢ๓࡟ VR ✵㛫ࢆᥦ♧ࡋ㸪ࡑࡢ୰ࢱࢆタィࡋࡓ㸬ࡇࡢࢹࣂ࢖ࢫ࡟ࡼࡾ㸪࣮ࣘࢨࡣ VR ✵㛫ෆࡢ௬᝿≀యࢆ࢚ࣥࢻ࢚ࣇ࢙ࢡࢱ࡟⿦╔ࡋࡓ Wii ࢾࣥࢳࣕࢡࢆ⮬⏤࡟ືࡁ࡞ࡀࡽ㸪௬᝿≀య࡜ࡢຊぬࢆకࡗࡓ࢖ࣥࢱ࡛ࣛ᧯సࡍࡿ㸬VR ≀యࢆ᧯సࡋࡓ࡜ࡁࡢຊぬࡀᡭ㤳࢚ࣥࢻࢡࢩࣙࣥࢆ⾜࠼ࡿࡼ࠺࡟࡞ࡿ㸬௒ᚋࡢㄢ㢟࡜ࡋ࡚㸪 HMD⢭ᗘࡀ᭱኱࡜࡞ࡿࡼ࠺࡟࢚ࣥࢻ࢚ࣇ࢙ࢡࢆ ⿦ ╔ ࡍ ࡿ ࡜ ⌧ ᐇ ୡ⏺ ࡀ ぢ࠼ ࡞ ࡃ ࡞ ࡿ ࡓ ࡵ 㸪 ࣮ࣘ ࢨ ࡀ© 2016 Information Processing Society of Japan319

情報処理学会 インタラクション 2016
IPSJ Interaction 2016

SPIDAR-W ෆ࡛ࡢ࢚ࣥࢻ࢚ࣇ࢙ࢡࢱࡢ఩⨨ࢆᢕᥱ࡛ࡁ࡞࠸࡜࠸࠺ၥ㢟ࡀ࠶ࡿ㸬ࡇࡢࡇ࡜࡟ࡼࡾ㸪㐺ษ࡞఩⨨࡛ࡢ࢟ࣕࣜࣈ࣮ࣞࢩࣙࣥࢆ࣮ࣘࢨ⮬㌟ࡀ⾜࠼ࡎ㸪ࣇ࣮࣒ࣞ࡜࢚ࣥࢻ࢚ࣇ࢙ࢡࢱ࡜ࡢᖸ΅ࡀⓎ⏕ࡋ࡚ࡋࡲ࠺㸬ࡑࡢࡓࡵ㸪HMD ࢆ⿦╔ࡋࡓ࣮ࣘࢨ⮬㌟ࡀ㸪࢚ࣥࢻ࢚ࣇ࢙ࢡࢱ࡜ࣇ࣮࣒ࣞ࡜ࡢ161B38
2016/3/2

ㄔ㸪2012 ࢫࢺࣜࣥࢢෆⶶᆺࣁࣉࢸ࢕ࢵࢡ࢖ࣥࢱࣇ࢙࣮ࢫSPIDAR-I ࡢ㛤Ⓨ ᝟ሗฎ⌮Ꮫ఍ ࢖ࣥࢱࣛࢡࢩࣙࣥ 2012 pp 293300
13) ἙෆࡲࡁᏊ࣭ᣢ୸ṇ᫂㸪2005 AIST ேయᑍἲࢹ࣮ࢱ࣮࣋ࢫ,⏘ᴗᢏ⾡⥲ྜ◊✲ᡤ H16PRO 287.
14) Wii Controllers https://www.nintendo.co.jp/wii/controllers/ 2015ᖺ 12 ᭶ 8 ᪥ 㜀ぴ఩⨨㛵ಀࢆᢕᥱ࡞ࡀࡽ࢟ࣕࣜࣈ࣮ࣞࢩࣙࣥࢆ⾜࠼ࡿࢩࢫࢸ࣒ࢆᵓ⠏ࡍࡿᚲせࡀ࠶ࡿ࡜⪃࠼ࡽࢀࡿ㸬௒ᚋࡣ㸪࢚ࣥࢻ࢚ࣇ࢙ࢡࢱࡢ఩⨨ጼໃィ⢭ᗘࡸ㸪᭱኱ᥦ♧ຊ࡞࡝ࡢࢹࣂ࢖ࢫ≉ᛶࢆᛶ⬟ホ౯ᐇ㦂࡟ࡼࡾ᳨ドࡍࡿணᐃ࡛࠶ࡿ㸬ࢆࡲࡓ㸪࣮ࣘࢨホ౯ᐇ㦂ࢆ㏻ࡋ࡚㸪ࢹࣂ࢖ࢫࡢ౑࠸᫆ࡉࡸ㸪⿦╔࡟ࡼࡾἐධឤ࡟୚࠼ࡿᙳ㡪ࢆㄪᰝࡍࡿᚲせࡀ࠶ࡿ㸬ㅰ㎡ ᮏ◊✲ࡣ㸪⛉◊㈝(26540103㸪26540104)ࡢຓᡂࢆཷ
ࡅࡓࡶࡢ࡛࠶ࡿ㸬ཧ⪃ᩥ⊩1) HTC vive: 2015. http://www.htcvr.com/ 2015 ᖺ 12 ᭶ 1 ᪥ 㜀ぴ2) Brooks, Jr. F.P., Ouh-Young, M., Batter, J. J. and Kilpatrick, P.J.
1990. Project GROPE-Haptic displays for scientific visualization. ACM
SIGGRAPH Computer Graphics, vol.24 (4) (Aug. 1990), pp 177-185.
3) Cai, Y., Ishii, M., Sato, M. 1996. A human interface device for
CAVE: size virtual workspace. In IEEE International Conference onSystems, Man, and Cybernetics, (Beijing, CN, October 14-17, 1996),
IEEE, vol.3,pp 2084-2089
4) Gupta, A. and O’Malley, M.K., 2006. Design of a haptic armexoskeleton for training and rehabilitation. IEEE/ASME
TRANSACTIONS ON MECHATRONICS, vol.11 (3). (Jun. 2006), pp280-289.
5) Leiter, P, Avraam, M., Veillerette, S., Horodinca, M., De Bartolomei,M., Schiele, A, Preumont, A. 2008. SAM : A 7-DOF portable arm
exoskeleton with local joint control. In IEEE/RSJ International
Conference on Intelligent Robots and Systems, (Nice, FR, September
22-26, 2008), IEEE, pp 3501-3506.
6) Kossyk, I., Dörr, J., Raschendörfer, L. and Kondak, k. 2011.
Usability of a virtual reality system based on a wearable hapticinterface. In IEEE/RSJ International Conference on Intelligent Robotsand Systems, (San Francisco, US, September 25-30, 2011), IEEE, pp3474-3479.
7) Hirose, M., Hirota, K., Ogi, T., Yano, H., Kakei, N., Saito, M. andNakashige, M. 2001. HapticGEAR: the Development of a Wearable
Force Display System for Immersive Projection Displays. In
Proceedings of the Virtual Reality 2001 Conference (VR’01),(Yokohama, JP, March 13-17, 2001), IEEE, pp 123-129.
8) Cruz-Neira, C., Sandin, D.J. and DeFanti, T.A. 1993. SurroundScreen Projection-Based Virtual Reality: The Design andImplementation of the CAVE. In SIGGRAPH '93 Proceedings of the20th annual conference on Computer graphics and interactive
techniques, (Anaheim, US, August, 01-06, 1993), ACM, pp 135-142.
9) ⏣ୖ᝿㤿㸪㤿ጨᾰ㸪㉥⩚ඞோ㸪బ⸨ㄔ 2015 ࢙࢘ࣛࣈࣝ࡞ᡭ㤳ຊぬᥦ♧ࢹࣂ࢖ࢫࡢᥦ᱌ ᝟ሗฎ⌮Ꮫ఍ ࢖ࣥࢱࣛࢡࢩࣙࣥ 2015
pp 412-415
10) Oculus VR Oculus Rift: 2015. https://www.oculus.com/enus/
Accessed: 2015-12-01
11) Hirata, Y. and Sato, M. 1992. 3-Dimensional Interface Device for
Virtual Work Space. In IEEE/RSJ International Conference onIntelligent Robots and Systems, (Raleigh, US, July 07-10, 1992), IEEE,vol.2, pp 889-896.
12) ஬༑ᔒ㐩㑻㸪⏣ᓥᐶஅ㸪ᑠᒣ㐩ஓ㸪ᮒ㢦㸪㉥⩚ඞோ㸪బ⸨© 2016 Information Processing Society of Japan

320