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Clarification of Human-being's Force Feeling Mechanism and its Application to Force Feeling Telecommunication

Research Project

Project/Area Number 18300073
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Sensitivity informatics/Soft computing
Research InstitutionYokohama National University

Principal Investigator

YABUTA Tetsuro  Yokohama National University, Graduate School of Enginerring, Professor (30323926)

Co-Investigator(Kenkyū-buntansha) HUANG Jian  Yokohama National University, Graduate School of Engineering, Research Associate (10282956)
Project Period (FY) 2006 – 2007
Project Status Completed (Fiscal Year 2007)
Budget Amount *help
¥15,680,000 (Direct Cost: ¥14,000,000、Indirect Cost: ¥1,680,000)
Fiscal Year 2007: ¥7,280,000 (Direct Cost: ¥5,600,000、Indirect Cost: ¥1,680,000)
Fiscal Year 2006: ¥8,400,000 (Direct Cost: ¥8,400,000)
KeywordsForce Feeling / Haptic Interface / Illusion / Telecommunication / Virtual Reality / Haptic Perception
Research Abstract

The purpose of this research is to clarify force-feeling mechanism of a human being by using a Virtual Reality technology based on Haptic Interface that is a force display device. Moreover, the possibility of force feeling telecommunication is also clarified as its application of this study. Advantages of this research are easiness both to change experimental conditions by changing mathematical models in the virtual reality environment and to obtain subject's motion data during the experiments.
In the subject of the previous scientific research, the force feeling mechanism was clarified during sudden small weight change of a holding object. In this study, arm motion effect is added to the experiment condition. Results show that motion effects reduce perceptive thresholds and changing rate of the holding object weight increases sensitivity of the force feeling, whose data are classified in clear patterns. New Haptic Interface devices are made to extend its operation area, which is used to clarify the possibility of the force feeling telecommunication. Functions of both force and position information are examined in this system by making experimental hybrid control system that can change gradually from position control to force control. On the contrary to our estimation, this result means that force feeling telecommunication cannot be realized only by force control system, but can be realized by hybrid force and position control system. This is why the position control must be used to make reaction force of the manipulation device.

Report

(3 results)
  • 2007 Annual Research Report   Final Research Report Summary
  • 2006 Annual Research Report
  • Research Products

    (20 results)

All 2008 2007 2006 Other

All Journal Article (18 results) (of which Peer Reviewed: 8 results) Presentation (1 results) Remarks (1 results)

  • [Journal Article] Analysis of Human Weight Perception for Sudden Weight Changes during Lifting Task Using a Force Display Device2007

    • Author(s)
      Masayuki Hara
    • Journal Title

      Proc. of IEEE International Conference on Robotics and Automation

      Pages: 1808-1813

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
    • Peer Reviewed
  • [Journal Article] ハプティックインタフェースを用いた力感覚と錯覚現象の計測2007

    • Author(s)
      大竹理香
    • Journal Title

      計測自動制御学会論文集 Vol.43,No.8

      Pages: 699-701

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Annual Research Report 2007 Final Research Report Summary
    • Peer Reviewed
  • [Journal Article] Analysis of Human Weight Perception for Sudden Weight2007

    • Author(s)
      Masayuki, Hara
    • Journal Title

      Proc.of IEEE International Conference on Robotics and Automation

      Pages: 1808-1813

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] Analysis of Relationship between Size-wight Illusion and Human Motion Using a Haptic Interface2007

    • Author(s)
      Ayaka, Ohtake
    • Journal Title

      Trans. of the Society of Instrument and Control Engineers Vol.43 No.8

      Pages: 699-701

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] Analysis of Human Weight Perception for Sudden Weight Changes during Lifting Task Using Force Display Device2007

    • Author(s)
      Masayuki Hara
    • Journal Title

      Proc. of IEEE International Conference on Robotics and Automation

      Pages: 1808-1813

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 電流測定による関節トルク推定値を用いたZMP推定法の提案とその応用2007

    • Author(s)
      松木洋介
    • Journal Title

      日本機械学会論文集(C) Vol.73No.732

      Pages: 2295-2304

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Emulating the Motion of a Human Upper Limb: Controlling a Finger-arm Robot by using the Manipulability of its Finger2006

    • Author(s)
      Jian Huang
    • Journal Title

      Proc of IEEE International Conference on Robotics and Biomimetics

      Pages: 607-612

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
    • Peer Reviewed
  • [Journal Article] Control of a MacroMicro Robot System Using Manipulability of the Micro Robot2006

    • Author(s)
      Bui Trong Quan
    • Journal Title

      JSME International Journal(C) Vol.49,No.3

      Pages: 897-904

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
    • Peer Reviewed
  • [Journal Article] 報酬変化を用いた強化学習によるロボットの前進行動獲得2006

    • Author(s)
      山科亮太
    • Journal Title

      日本機械学会論文集(C) Vol.72,No.717

      Pages: 1574-1581

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
    • Peer Reviewed
  • [Journal Article] 強化学習によって獲得される芋虫型ロボットの前進行動形態に関する考察2006

    • Author(s)
      本山晴寿
    • Journal Title

      日本機械学会論文集(C) Vol.72,No.723

      Pages: 3525-3532

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
    • Peer Reviewed
  • [Journal Article] Emulating the Motion of a Human Upper Limb: Controlling a Finger-arm Robot by using the manipulability of its Finger2006

    • Author(s)
      Jian, Huang
    • Journal Title

      Proc. of IEEE International Conference on Robotics and Biomimetics

      Pages: 607-612

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] Control of a MacroMicro Robot System Using Manipulability of the Micro Robot2006

    • Author(s)
      Bui, Trong Quan
    • Journal Title

      The Japan Society of Mechanical Engineer International Journal(C) Vol.49 No.3

      Pages: 897-904

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] Advance Motion Acquisition of an Actual Robot by Reinforcement Learning using Reward Change2006

    • Author(s)
      Ryota, Yamashina
    • Journal Title

      Trans. of the Japan Society of Mechanical Engineers Vol.72-C No.717

      Pages: 1574-1581

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] Study on Obtained Advance Motion Form of a Caterpillar Robot by using Reinforcement Learning2006

    • Author(s)
      Haruhisa, Motoyama
    • Journal Title

      Trans. of the Japan Society of Mechanical Engineers Vol.72-C No.723

      Pages: 3525-3532

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] Verification of Haptic Illusion Using a Haptic Interface and Consideration on Its Mechanism2006

    • Author(s)
      M.Hara, (T.Higuchi, A.Ohtake, J.Huang, T.Yabuta)
    • Journal Title

      Journal of Robotics and Mechatronics Vol.18・No.4

      Pages: 476-488

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Control of a MacroMicro Robot System Using Manipulability of the Micro Robot2006

    • Author(s)
      B.T.Quan, (J.Huang, M.Harada, T.Yabuta)
    • Journal Title

      JSME International Journal Vol.49・No.3

      Pages: 897-904

    • NAID

      110004781791

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Emulating the Motion of a Human Upper Limb : Controlling a Finger-arm Robot by using the Manipulability of its Finger2006

    • Author(s)
      J.Huang, (B.T.Quan, M.Harada, T.Yabuta)
    • Journal Title

      Proceedings of 2006 IEEE International Conference on Robotics and Biomimetics

      Pages: 607-612

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Analysis of Human Weight Perception for Sudden Weight Changes during Lifting Task Using a Force Display Device2006

    • Author(s)
      M.Hara, (T.Higuchi, T.Yamagishi, N.Ashitaka, J.Huang, T.Yabuta)
    • Journal Title

      Proceedings of 2007 IEEE International Conference on Robotics and Automation (To be published)

    • Related Report
      2006 Annual Research Report
  • [Presentation] 遠隔力通信の基本問題の検討2008

    • Author(s)
      芦高直哉
    • Organizer
      第13回ロボティクスシンポジア(査読有)
    • Place of Presentation
      香川
    • Year and Date
      2008-03-16
    • Related Report
      2007 Annual Research Report
  • [Remarks] 「研究成果報告書概要(和文)」より

    • URL

      http://yabsv.jks.ynu.ac.jp/

    • Related Report
      2007 Final Research Report Summary

URL: 

Published: 2006-04-01   Modified: 2016-04-21  

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