Resume -Un systeme Z aimant toroTdal est probablement preferable celui d'un aimant solenoXda1 du point de vue des champs de fuite, de la fabrication, de l'entretien et des r6parations. Au vu des propri-Btes non connues des roches et du niveau technologique actuel pour faire des excavations, il semble raisonnable d'adopter une structure en tranchee ouverte qui ne soutienne que la force Blectromagnetique centripete agissant sur l'aimant toroldal.
A wearable force display system using laminated passive elements is proposed in this paper. The laminated passive elements for wearable systems have already developed [4]. However, the performance of the elements is not clear when these are utilized as elements of a force display. In this paper, the force display ability in the case that a human operator touches an object in virtual world is investigated at first. At second, to wear the force display system a method without using an exoskeleton structure is proposed basing on measurement data of the stiffness on human skins. Finally, a partial wearable system in which only sensors and passive elements are wearable and a perfect wearable system are developed based on the proposed methods. From the experimental results, it is confirmed that the total weights and volumes of the developed force displays are enough small and the developed wearable systems can be effectively utilized for a force display if the human motion is considerably slow.
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