2011 年 16 巻 3 号 p. 441-448
This paper describes development of a wire driven multi finger haptic interface SPIDAR-MF. It is operated with five finger in one hand and it displays force to each finger. Multi finger device can operate more instinctively in virtual world. For such an interface, it is important to display force promptly and operate device. The SPIDAR system is effective to display force promptly, but it has big problem that strings are twisted by multi finger movement. we challenged to solve this problem by moving the frame where motor is fixed. The device can realize force feedback of reality and operate interactively.