Analysis of Force Sensation by use of Virtual Reality and its Application to Force Telecommunication System

• Project/Area Number: 20300075
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Sensitivity informatics/Soft computing
• Research Institution: Yokohama National University
• Principal Investigator: YABUTA Tetsuro Yokohama National University, 工学研究院, 教授 (30323926)
• Co-Investigator(Kenkyū-buntansha): KOU Ken 近畿大学, 工学部, 准教授 (10282956)
• Project Period (FY): 2008 – 2010
• Project Status: Completed (Fiscal Year 2010)
• Budget Amount: ¥18,070,000 (Direct Cost: ¥13,900,000、Indirect Cost: ¥4,170,000); Fiscal Year 2010: ¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000); Fiscal Year 2009: ¥6,240,000 (Direct Cost: ¥4,800,000、Indirect Cost: ¥1,440,000); Fiscal Year 2008: ¥6,890,000 (Direct Cost: ¥5,300,000、Indirect Cost: ¥1,590,000)
• Keywords: 力感覚 / ハプティックインタフェース / コミュニケーション / 触知覚メカニズム / 学習 / 人間計測 / マニピュレータおよびフィンガのアドミタンス / インピーダンス制御 / バーチャルリアリティ

Research Abstract

This research aims at clarifying both force sensation mechanism and an interactive force telecommunication system by use of virtual reality technology obtained by a Haptic Interface which is a force presentation device. Results show a possibility of the interactive telecommunication system by clarifying fundamental characteristics obtained by proposed system designs and control algorithms. As for the force sensation mechanism, the results show upper limb movement strongly affected by visual information even if the limb is trained under blind condition.

Research Products

• [Journal Article] Acqisition of a Gymanast-Like Robotic Giant-Swing Motion by Q-Learning and Improvement of the Repeatability (2011)
  • Author(s): Masayuki HARA, 3名
  • Journal Title: Journal of Robotics and Mechatronics Volume: 23 Pages: 126-136
  • Peer Reviewed
• [Journal Article] 複数可操作度総合評価によるマルチフィンガ・アームロボットのアドミッタンス制御 (2010)
  • Author(s): 堀貴之、山田大輔、黄健、杉内肇、藪田哲郎
  • Journal Title: 日本機械学会論文集C Vol.76、No.763 Pages: 655-664
  • Peer Reviewed
• [Journal Article] 強化学習を用いたスポーツロボットの大車輪運動の獲得とその行動形態の考察 (2010)
  • Author(s): 坂井直樹、川辺直人、原正之、豊田希、藪田哲郎
  • Journal Title: 計測自動制御学会論文集 Vol.46、No.3 Pages: 178-187
  • NAID: 10026207981
  • Peer Reviewed
• [Journal Article] 高精度速度および加速度近似手法を用いたロボットのアドミッタンス制御における周波数特性の改善 (2010)
  • Author(s): 佐藤邦彦, 3名
  • Journal Title: 日本機械学会論文集 Volume: 76 Pages: 3178-3180
  • Peer Reviewed
• [Journal Article] Indirect Manipulation of a Sphere on a Flat Disk Using Force Information (2010)
  • Author(s): Masayuki HARA, 3名
  • Journal Title: International Journal of Advanced Robotic Systems Volume: 7 Pages: 87-96
  • Peer Reviewed
• [Journal Article] 複数可操作度総合評価によるマルチフィンガ・アームロボットのアドミッタンス制御 (2010)
  • Author(s): 堀貴之, 他4名
  • Journal Title: 日本機械学会論文集 C編 76 Pages: 655-664
  • Peer Reviewed
• [Journal Article] 強化学習を用いたスポーツロボットの大車輪運動の獲得とその行動形態の考察 (2010)
  • Author(s): 坂井直樹, 他4名
  • Journal Title: 計測自動制御学会論文集 46 Pages: 178-187
  • Peer Reviewed
• [Journal Article] 遠隔力感覚コミュニケーションにおける基礎的なシステム構成法と感覚面からの基本評価 (2009)
  • Author(s): 芦高直哉、原正之、反保紀昭、黄健、藪田哲郎
  • Journal Title: 日本機械学会論文集C Vol.75、No.752 Pages: 1000-1008
  • Peer Reviewed
• [Journal Article] ミュラー・リヤー錯視による人間上肢運動変化 (2009)
  • Author(s): 小坂翔、原正之、黄健、藪田哲郎
  • Journal Title: 計測自動制御学会論文集 Vol.45、No.1 Pages: 69-71
  • Peer Reviewed
• [Journal Article] Cooperative Impedance Control of a Finger-Arm Robot by Regulating Finger's Manipulability (2009)
  • Author(s): Jian Huang、Daisuke YAMADA 、Yusuke NAKAMURA 、Masayuki HARA、Tetsuro YABUTA
  • Journal Title: Journal of System Design and Dynamics Vol.3、No.5 Pages: 756-767
  • NAID: 130000132925
  • Peer Reviewed
• [Journal Article] Cooperative Impedance Control of a Finger-Arm Robot by Regulating Finger's Manipulability (2009)
  • Author(s): Jiang Huang, 他4名
  • Journal Title: Journal of System Design and Dynamics 3 Pages: 756-767
  • NAID: 130000132925
  • Peer Reviewed
• [Journal Article] ミュラー・リヤー錯視による人間上肢運動の変化 (2009)
  • Author(s): 小坂翔ほか3名
  • Journal Title: 計測自動制御学会論文集 Vol. 45No. 1 Pages: 69-71
  • Peer Reviewed
• [Journal Article] 可操作度を考慮したフィンガ・アームロボットの協調的インピーダンス制御 (2008)
  • Author(s): 山田大輔、中村裕介、原正之、黄健、藪田哲郎
  • Journal Title: 日本機械学会論文集C Vol.74、No.748 Pages: 2994-3003
  • NAID: 110007008108
  • Peer Reviewed
• [Journal Article] カセンサなしの条件下で近似Z M P計測法を用いたサーフィンロボットの実現 (2008)
  • Author(s): 許仁ほか4名
  • Journal Title: 日本機械学会論文集(C) Vol. 74No. 740 Pages: 912-921
  • Peer Reviewed
• [Journal Article] 遠隔力感覚コミュニケーションにおける基礎的なシステム構成法と感覚面からの基本評価
  • Author(s): 芦高直哉ほか4 名
  • Journal Title: 日本機械学会論文集(c) 掲載決定
  • Peer Reviewed
• [Presentation] Analysis of Eye Movement during Generation of a Trqlectory using Human Upper Limb (2010)
  • Author(s): Nozomi TOYODA, 3名
  • Organizer: IEEE International Conference on Robotics and Biomimetics
  • Place of Presentation: Tianji, China
  • Year and Date: 2010-12-15
• [Presentation] Analysis of Eye Movement during Generation of a Trajectory using Human Upper Limb (2010)
  • Author(s): Nozomi TOYAD、Ryouhei YAMAMOTO、Jian Huang、Tetsuro YABUTA
  • Organizer: Proc. of IEEE Robio pp.89-91
• [Presentation] Consideration on Robotic Giant-swing Motion Generated by Reinforcement Learning (2009)
  • Author(s): Masayuki Hara, 他5名
  • Organizer: IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: St. Louis USA
  • Year and Date: 2009-10-14
• [Presentation] Consideration on Robotic Giant-swing Motion Generated by Reinforcement Learning (2009)
  • Author(s): Masayuki HARA、Naoto KAWABE、Naoki SAKAI、Jiang Huang、Hannes Bleuler、Tetsuro YABUTA
  • Organizer: Proc. of IEEE IROS pp.4206-4211
• [Presentation] Muler-Lyer Illusion Effect on a Reaching Movement in Simultaneous Presentation of Haptic/Kinesthic Cues (2009)
  • Author(s): Masayuki HARA、Sho KOSAKA、Jian Huang、Hannes Blueler、Tetsuro YABUTA
  • Organizer: Proc. of IEEE IROS pp.1253-1258
• [Presentation] Integration of Impedance Control and Manipulability Regulation for a Finger-Arm Robot (2009)
  • Author(s): Jian Huang、Daisuke YAMADA、Takayuki HORI、Masayuki HARA、Tetsuro YABUTA
  • Organizer: Proc. of IEEE ICRA pp.4006-4012
• [Presentation] Consideration of Weight Discriminative Powers for Various Weight Changes using a Haptic Device (2008)
  • Author(s): Masayuki HARAほか4名
  • Organizer: 2008 IEEE/RSJ International Conf. on Intelligent Robots Systems
  • Place of Presentation: Nice France
  • Year and Date: 2008-09-25
• [Presentation] Consideration of Weight Discriminative Powers for Various Weight Changes Using a Haptic Device (2008)
  • Author(s): Masayuki HARA、Naoya ASHITAKA、Noriaki TANBO、Jian Huang、Tetsuro YABUTA
  • Organizer: Proc. of IEEE IROS pp.3971-3976
• [Presentation] Moving Distance Error of the Fingertip During a Memory Based Movement without Using Vision (2008)
  • Author(s): Jian Huang、Sho KOSAKA、Hironori NOSAKA、Tetsuro YABUTA
  • Organizer: Proc. of IEEE DHMS pp.550-555
• [Book] Motion Controledited by Federico Casolo(Controlling a Finger-Arm Robot to Emulate the Motion of the Human Upper Limb by Regulating Finger Manipulability) (2010)
  • Author(s): Jian Huang、Masayuki HARA、Tetsuro YABUTA
  • Publisher: INTEC
• [Remarks] ホームページ等
  • URL: http://yabsv.jks.ynu.ac.jp
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  • URL: http://yabsv.jks.ynu.ac.jp
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  • URL: http://yabsv.jks.ynu.ac.jp/
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  • URL: http://yabsv.jks.ynu.ac.jp/