| Project/Area Number |
18300073
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Sensitivity informatics/Soft computing
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| Research Institution | Yokohama National University |
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Principal Investigator |
YABUTA Tetsuro Yokohama National University, Graduate School of Enginerring, Professor (30323926)
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| Co-Investigator(Kenkyū-buntansha) |
HUANG Jian Yokohama National University, Graduate School of Engineering, Research Associate (10282956)
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| Project Period (FY) |
2006 – 2007
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| Project Status |
Completed (Fiscal Year 2007)
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| 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)
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| Keywords | Force Feeling / Haptic Interface / Illusion / Telecommunication / Virtual Reality / Haptic Perception |
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| 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.
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