Haptic Display Using Fishing Rod

Abstract

This paper proposes a grounded haptic display that can widely present a force sensation using a fishing rod. The proposed haptic display incorporates a fishing rod to present the force sensation at the user's fingertip using a thread being reeled from the tip of the fishing rod. The multidirectional force sensation is presented by driving the base supporting the fishing rod using a pan-tilt mechanism, and wending the thread using the reel. The fishing rod is lightweight and moves at high speed. Additionally, it is possible to widely present the force by bending the fishing rod. This device requires conversion from the position of the user's fingertip and magnitude of the force to the necessary winding force of the thread and the posture of the fishing rod. This study developed a control method and evaluated it by considering a case wherein the force to be presented is exerted in the vertical direction.