Recent Documents








14 人のユーザが現在オンラインです。 (14 人のユーザが documents (wiki) を参照しています。)

登録ユーザ: 0
ゲスト: 14



今日 :960960960
昨日 :1846184618461846
今週 :960960960
今月 :4168641686416864168641686
総計 :3209888320988832098883209888320988832098883209888
平均 :628628628


Documents > Research? > SPIDAR


What's "SPIDAR"

SPIDAR is SPace Interface of Artificial Reality. Invented by Professor Makoto Sato, TITECH, Japan at 1991. SPIDAR is a series of string based force feedback display.


Prof. Sato phonates it as Su-Pai-Da-a. French researchers phonate it as Su-pi-da.



It is the most famous and basic series of SPIDAR. The effector (grip, pointer, object, etc...) has 4 strings that are linked to encorder motors. The effector is not limited like ring or sphere or basket ball. In Sato Lab, there are lot of versions of SPIDAR-4.


Double hand SPIDAR-4.


This SPIDAR supports 6DOF (position and rotation) using 5-8 strings. SPIDAR-G can also output rotate force like inertia.

SPIDAR-G double hand

Currently, SPIDAR systems are driven by a controller box that has micro computer and USB2.0. Then it is possible to use few controllers in same time.


SPIDAR also supports 2D based environment by 2-3 motors.


SPIDAR for large environment like CAVE style display or projected screens.

Virtual Basketball

An application system to realize free throw fo Basketball using SPIDAR-8. It have been demonstrated at SIGGRAPH'97.

Tangible Playroom

Tangible Playroom is designed as future computer entertainment system using BIG-SPIDAR-4, large floor screen, physics engine and A.I. characters. Players can interect with virtual animals by full body interaction (details). It have been demonstrated at SIGGRAPH2003 SigKIDS.

Kobito: Virtual Brownies

Kobito realizes virtual small imps(Brownies) on a table. When you watch the display, the Brownies move the real props on the real table. They are imaginary agents. Then when you touch to the props, the Brownies will be invisible. This system has 2D SPIDAR with electromagnet as an effector. This project is developed by students for IVRC2004. And they will demonstrate at SIGGRAPH 2005 ([[abstract at SIGGRAPH2005> http://www.siggraph.org/s2005/main.php?f=conference&p=etech&s=etech3]]).


RoboGamer is a robotic system which is able to play a video game together with a human player. This project realized a physically connected friendly computer player by a simple robotic system that is composed of a video camera, wire based force feedback display based on SPIDAR-4 and a program that made with GPU fast image recognition without any modification for original video game system. RoboGamer has three functions that are autonomous play, augmented effects like force feedback and/or rich graphics for original old video game and collaboration play with A.I. and human player via force feedback on the joystick (details).


Torano-maki, an answer book

Basic knowledge

I'm not sure about What's basic?. However I can say, SPIDAR developer needs basical mechanic, electronic, software, math and physics knowledges. They are sort of same for robotic beginners. For users, they needn't any knowledge, just fun. SPIDAR has a lot of advantages like easy, stable, safer, cheaper, flexible, customizable and lighter mass, etc...

The shortest way is...

Develop by yourself. It is the ost easiest and usuful way. This documents will help you to do it your self. If you need more help, please ask me in Japanease, English or French. And Sato Lab has a lot of foreign studens like Korea, China, Tunisia, France, Spain, Swiss, etc... Then asking or joining to Sato Lab are more convenient (but I'm not sure).

Hidden techniques

There are a lot of hidden techniques to develop and maintain SPIDAR. Some of topics are published as academic papers however some of techniques are very small then they will not published forever. If you work in Sato Lab for 3 years, it will possible to understand for all but I'll try to write down them here.

Encoder motors

This is the most important parts for SPIDAR. In the beginning of SPIDAR, they use pully with weight and brakes. So it means they do not have encoder motors. However, current SPIDARs use encoder motors very well. It is a main engine of SPDAR.

Which motors should be used?

Brush-less, core-less, DC motors. Maxon has a good website to find the best motors in several languages.

  • http://www.maxonjapan.co.jp/tech_doc.htm?

(to be continued...)


Prof.Sato holds basic patents of SPIDAR. Please ask him.

Related Links

  • Sato Lab, TITECH There are no details on the website. If you would like to know about SPIDAR from Prof.Sato, you should learn Japanese or ask in English directly.
    • Here is a historical white paper written by Prof.Sato(PDF).
  • Springhead Springhead is SDK for SPIDAR environment. It is a frame work for VR content development, and it is also knowledge of Sato Laboratory. Hasegawa, assistant of Sato Lab handles its development. It is a semi-open source project then you can grab whole source tree from here(wiki). English wiki is here.


This document has no warranty. And Englisht writing has a lot of errors. If you have any updates or corrections, please tell me without hesitate. Of leave me your message below.

Comment Please!

No comment. コメント/SPIDAR?


Last update at 2005-05-11 02:55:20

Counter: 3107, today: 1, yesterday: 2

Front page   Edit Freeze Diff Backup Upload Copy Rename Reload   New List of pages Search Recent changes   Help   RSS of recent changes
Counter: 3107, today: 1, yesterday: 2
Last-modified: Sat, 07 Oct 2006 16:08:48 GMT (4886d)
Powered by XOOPS Cube The XOOPS Project / all rights are reserved by Akihiko Shirai / XOOPS Cube
Theme Designed by OCEAN-NET