ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1P1-X07
会議情報
1P1-X07 TAKO-Pen:皮膚への吸引圧刺激を用いたペン型疑似力覚インタフェース : 第3報:複数皮膚刺激を用いた全方位力覚表現(触覚と力覚(1))
前森 大貴Lope Ben PORQUIS昆陽 雅司田所 諭
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会議録・要旨集 フリー

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抄録

Humans can perceive external forces applied on a grasping tool based on skin pressure distribution at multiple contact areas during grasp. We have developed the TAKO-Pen, a pen-type pseudo-haptic interface using suction pressure stimulation on the each skin. In this paper, we investigate an improved method of skin stimulation based on a combination of psychophysical evaluations and mechanical simulation. We focus on a simplification method of the complex strain energy density (SED) distribution at the contact areas with a four quadrant values (SED index). The relationship between suction pressure and SED index was achieved by connecting the evaluations and the simulation. Moreover, we confirmed that an appropriate SED index could represent the magnitudes of forces in multiple directions with a linear function. Experimental results also showed that the proposed method could represent arbitrary directions between a pair of the orthogonal axes.

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© 2014 一般社団法人 日本機械学会
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