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A Study on Haptic Interfaces

Research Project

Project/Area Number 11450160
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Measurement engineering
Research InstitutionTokyo University of Agriculture and Technology

Principal Investigator

KOSHIDA Nobuyoshi  Tokyo University of Agriculture and Technology Faculty of Engineering, Professor, 工学部, 教授 (50143631)

Co-Investigator(Kenkyū-buntansha) SHINODA Hiroyuki  The University of Tokyo, Graduate School of Information Science and Technology Research Associate, 大学院・情報理工学系研究科, 助教授 (40226147)
Project Period (FY) 1999 – 2001
Project Status Completed (Fiscal Year 2001)
Budget Amount *help
¥12,000,000 (Direct Cost: ¥12,000,000)
Fiscal Year 2001: ¥2,200,000 (Direct Cost: ¥2,200,000)
Fiscal Year 2000: ¥5,300,000 (Direct Cost: ¥5,300,000)
Fiscal Year 1999: ¥4,500,000 (Direct Cost: ¥4,500,000)
KeywordsHaptic Interface / Tactile sensor / Sensitive skin / Tactile feeling display / Selective stimulation / tele-taction / Porous silicon / Thermally induced ultrasound / 触覚インターフェース / 皮膚感覚センサ / インターフェース / 超音波送受信 / 触感ディスプレイ
Research Abstract

In this project, we obtained some basic results on tactile feeling interfaces. The aim of the research was realizing a system to transmit tactile feeling from an artificial sensor to a human skin with high fidelity. Toward this goal, we studied new basic physical effects for haptic devices, sensors that can sense tactile feeling like human skin, new mechanisms of tactile display, and information processing in human skins. The results are summarized as follows.
1) New principle of an ultrasound emitter
A new principle of an ultrasonic emitter was studied. Intense ultrasound generates radiation pressure on the skin suitable for tactile display because it can be accurately controlled with high spatial resolution and temporal response. A thertnally-induced-ultrasound emitter studied here is suitable to generate such intense sound. We showed the basic principle of sound generation and methods to heighten the intensity, and we finally obtained intense ultrasound more than 1 kPa.
2) Tactile disp … More lay and informational studies on human tactile sensation
Tactile resolution of the human skin was clarified. We proposed a hypothesis on determination of human tactile feeling. Since there were paradoxical properties in human tactile perception that a human skin has relatively large two-point-discrimination-threshold while it can distinguish very fine feature of the object surface, the tactile resolution for realistic tactile display had been a mystery. Our hypothesis explains this and was proved by experiments.
3) Tactile sensor
For realizing an elastic sensor skin with faithful properties to a human skin suggested by above results, we proposed a wire-free tactile sensing chip based on optical connection. Each sensing chip with an individual 10 detects 6 components of stress tensor and sends the digital signal with emitted light from the chip. Since the sensing chips need no wire, they can be located three-dimensionally in a sensor skin with high density without loosing the skin's elasticity. The sensing chip including VLSI chip was designed. Less

Report

(4 results)
  • 2001 Annual Research Report   Final Research Report Summary
  • 2000 Annual Research Report
  • 1999 Annual Research Report
  • Research Products

    (40 results)

All Other

All Publications (40 results)

  • [Publications] Tatsuo Migita: "Transient and Stationary Characteristics of Thermally Induced Ultrasonic Emission from Nanocrystalline Porous Silicon"Japanese Journal of Applied Physics. Vol.41(掲載予定). (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Katsuhiko Nakamura: "A Tactile Sensor Instantaneously Evaluating Friction Coefficients"Proc. TRANSDUCERS'01. Vol.2. 1430-1433 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Naoya Asamura: "Necessary Spatial Resolution for Realistic Tactile Feeling Display"Proc. 2001 IEEE Int. Conf. on Robotics and Automation. 1851-1856 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Takayuki Iwamoto: "Focused Ultrasound for Tactile Feeling Display"Proc. 2001 International Conf. on Artificial Reality and Telexistace. 121-126 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Hiroyuki Shinoda: "Digital Tactile Sensing Elements Communicating through Conductive Skin Layers"Proc. 2002 IEEE Int. Conf. on Robotics and Automation. (5月に掲載予定). (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Koichi Yamada: "Wire-Free Tactile Sensing Element Based on Optical Connection"Proc. IEEJ Sensor Symposium. (5月に掲載予定). (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] H. Shinoda, T. Nakajima, K. Ueno, N. Koshida: "Thermally Induced Ultrasonic Emission from Porous Silicon"Nature. 400. 853-855 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] N. Koshida , T. Nakajima, M. Yoshiyama , K. Ueno , T. Nakagawa, H. Shinoda: "Ultrasound Emission from Porous Silicon : Efficient Thermo-acoustic Function as a Depleted Nanocrystalline System"Mat. Res. Soc. Symp. Proc.. 536. 105-110 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] N. Koshida, T. Migita, Y. Kishimoto, H. Shinoda: "Novel Ultrasonic Technology by Nanocrystalline Porous Silicon"Proc. International Electrochem. Soc. Symposium, Phoenix. (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] N. Koshida: "Posible Functional Devices Based on Nanocrystalline Silicon"ISTC 2001 Device Technology. 150-159 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] N. Koshida, T. Migita, J. Hirota, N. Asamura, H. Shinoda: "Enhancement in the Thermallv Induced Acoustic Outnut Power of Nanocrystalline Porous Silicon Ultrasound Generator"Proc the 3rd Int. Conf. on Porous Semiconductor Science and Technology, Tenerife. (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] T. Migita, H. Shinoda, N. Koshida: "Transient and Stationary Characteristics of Thermally Induced Ultrasonic Emission from Nanocrystalline Porous Silicon"Jpn. Appl. Phys.. Vol. 41(in press). (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] N. Koshida, A. Kojima, T. Migita, Y. Nakajima: "Multifunctional Properties of Nanocrystalline Porous Silicon as a Quantum-Confined Material"Materials Sciende and Engineering C. 19. 285-289 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] N. Asamura, N. Yokoyama, H. Shinoda: "A Method of Selective Stimulation to Epidermal Skin Receptors for Realistic Touch Feedback"Proc. IEEE Virtual Reality '99 Conference. 274-281 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] N. Asamura, T. Shinohara, Y. Tojo, N. Koshida, H. Shinoda: "Necessary Spatial Resolution for Realistic Tactile Feeling Display"Proc. 2001 IEEE Int. Conf. on Robotics and Automation. 1851-1856 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] T. Iwamoto, T. Maeda, H. Shinoda: "Focused Ultrasound for Tactile Feeling Display"Proc. 2001 International Conf. on Artificial Reality and Telexistace. 121-126 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] M. Hakozaki, H. Oasa, H. Shinoda: "Telemetric Robot Skin"Proc. 1999 IEEE Int. Conf. on Robotics and Autcmation. 957-961 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] M. Hakozaki, K. Nakamura, H. Shindoa: "Telemetric Artificial Skin for Soft Robot"Proc. TRANSDUCERS '99. 1042-1045 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] H. Shinoda, S. Sasaki, K. Nakamura: "Instantaneous Evaluation of Friction Based on ARTC Tactile Sensor"Proc. 2000 IEEE Int. Conf. on Robotics and Automation. 2173-2178 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] H. Shinoda, H. Oasa: "Wireless Tactile Sensing Element Using Stress-Sensitive Resonator"IEEE/ASME Trans. On Mechatronics. Vol.5, No.3. 258-265 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] H. Shinoda, H. Oasa: "Passive Wireless Sensing Element for Sensitive Skin"Proc. 2000 IEEE/RSJ Int. Co4f. On Intelligent Robots and Systems. 1516-1521 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] K. Nakamura, H. Shinoda: "A Tactile Sensor Instantaneously Evaluating Friction Coefficients"Proc. TRANSDUCERS '01. Vol. 2. 1430-1433 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] M. Hakozaki, A. Hatori, H. Shinoda: "A Sensitive Skin Using Wireless Tactile Sensing Elements"Proc. 18th Sensor Symposium. 147-150 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] K. Nakaraura, H. Shinoda: "Tactile Sensing Device Instantaneously Evaluating Friction Coefificients"Proc. 18th Sensor Symposium. 151-154 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Tatsuo Migita: "Transient and Stationary Characteristics Thermally Induced Ultrasonic Emission from Nanocrystalline Porous Silicon"Japanese Journal of Applied Physics. Vol.41(掲載予定). (2002)

    • Related Report
      2001 Annual Research Report
  • [Publications] Katsuhiko Nakamura: "A Tactile Sensor Instantaneously Evaluating Friction Coefficients"Proc. TRANSDUCERS '01. Vol.2. 1430-1433 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] Naoya Asamura: "Necessary Spatial Resolution for Realistic Tactile Feeling Display"Proc. 2001 IEEE Int. Conf. on Robotics and Automation. 1851-1856 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] Takayuki Iwamoto: "Focused Ultrasound for Tactile Feeling Display"Proc. 2001 International Conf. on Artificial Reality and Telexistace. 121-126 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] Hiroyuki Shinoda: "Digital Tactile Sensing Elements Communicating through Conductive Skin Layers"Proc. 2002 IEEE Int. Conf. on Robotics and Automation. (5月に掲載予定). (2002)

    • Related Report
      2001 Annual Research Report
  • [Publications] Koichi Yamada: "Wire-Free Tactile Sensing Element Based on Optical Connection"Proc. IEEJ Sensor Symposium. (5月に掲載予定). (2002)

    • Related Report
      2001 Annual Research Report
  • [Publications] Nobuyoshi Koshida: "Novel Ultrasonic Technology by Nanocrystalline Porous Silicon"Proc.of International Electrocjem.Soc.Symposium, Phoenix, 2000. (in press). (2001)

    • Related Report
      2000 Annual Research Report
  • [Publications] Hiroyuki Shinoda: "Wireless Tactile Sensing Element Using Stress-Sensitive Resonator"IEEE/ASME Trans. on Mechatronics. Vol.5,No.3. 258-265 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] Hiroyuki Shinoda: "Passive Wireless Sensing Element for Sensitive Skin"Proc.2000 IEEE/RSJ Int.Conf.on Intelligent Robots and Systems. 1516-1521 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] Hiroyuki Shinoda: "Instantaneous Evaluation of Friction Based on ARTC Tactile Sensor"Proc.2000 IEEE Int.Conf.on Robotics and Automation. 2173-2178 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] Naoya Asamura: "Necessary Spatial Resolution for Realistic Tactile Feeling Display"Proc.2000 IEEE Int.Conf.on Robotics and Automation. (To be published in May). (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] 浅村直也: "皮膚感覚呈示のための必要解像度"日本バーチャルリアリティ学会第5回大会論文集. 257-260 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] H.Shinoda, T.Nakajima, K.Ueno, and N.Koshida: "Thermally induced ultrasonic emission from porous silicon"Nature. 400. 853-855 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] M.Hakozaki, H.Oasa, and H.Shinoda: "Telemetric Robot Skin"Proc. of IEEE Int. Conf. on Robotics and Automation. 957-961 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] M.Hakozaki, K.Nakamura, and H.Shinoda: "Telemetric Artificial Skin for Soft Robot"Proc.TRANSDUCERS '99. 1042-1045 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] N.Asamura, N.Yokoyama, and H.Shinoda: "A Method of Selective Stimulation to Epidemal Skin Receptors for Realistic Touch Feedback"Proc. IEEE Virtual Reality '99 Conference. 274-281 (1999)

    • Related Report
      1999 Annual Research Report

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Published: 1999-04-01   Modified: 2016-04-21  

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