Investigation of human's force control based on slip detection model and its applications

• Project/Area Number: 23700209
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: Hiroshima University
• Principal Investigator: KURITA Yuichi 広島大学, 大学院・工学研究院, 准教授 (80403591)
• Project Period (FY): 2011 – 2012
• Project Status: Completed (Fiscal Year 2012)
• Budget Amount: ¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000); Fiscal Year 2012: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000); Fiscal Year 2011: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
• Keywords: センシングデバイス / システム / 触覚・力覚 / 滑り知覚 / インタフェース / 確率共鳴 / 力制御戦略

Research Abstract

This project aimed to formulate human’s force control capability via a slip detection model at a fingertip and to apply the human’s force control model to real systems. We havedeveloped a slip detection model based on Hertzian contact theory, and applied the model to ahaptic illusion device. We have also proposed a wearable sensorimotor enhancer based on a stochastic resonance effect.

Research Products

• [Journal Article] Wearable Sensorimotor Enhancer for Fingertip using Stochastic Resonance Effect (2013)
  • Author(s): Yuichi Kurita, Minoru Shinohara, and Jun Ueda
  • Journal Title: IEEE Transactions on Human-Machine Systems
  • Peer Reviewed
• [Journal Article] Wearable Sensorimotor Enhancer for Fingertip using Stochastic Resonance Effect (2013)
  • Author(s): Yuichi Kurita
  • Journal Title: IEEE Transactions on Human-Machine Systems Volume: 3 Pages: 333-337
  • Peer Reviewed
• [Journal Article] 指先接触面の滑り量制御による重量・摩擦呈示デバイス (2012)
  • Author(s): 栗田 雄一,米澤 智,池田 篤俊,小笠原 司
  • Journal Title: 日本ロボット学会論文誌 Volume: Vol.32, No.2 Pages: 89-96
  • NAID: 10030209215
  • Peer Reviewed
• [Journal Article] 指先接触面の滑り量制御による重量・摩擦呈示デバイス (2012)
  • Author(s): 栗田 雄一
  • Journal Title: 日本ロボット学会論文誌 Volume: 32(2) Pages: 89-96
  • NAID: 10030209215
  • Peer Reviewed
• [Presentation] 確率共鳴現象による知覚感度向上に関する考察 (2012)
  • Author(s): 末田大和,服部稔,澤田紘幸,惠木浩之,大段秀樹,竹村裕,上田淳,辻敏夫,栗田 雄一
  • Organizer: 第13回計測自動制御学会システムインテグレーション部門講演会論文集
  • Place of Presentation: 福岡
  • Year and Date: 2012-12-18
• [Presentation] Improvement of tactile sensitivity by stochastic resonance: application to vibrating forceps (2012)
  • Author(s): Yuichi Kurita, Yamato Sueda, Toshio Tsuji, Minoru Hattori, Masakazu Tokunaga, Hiroyuki Egi, Hideki Ohdan, Hiroshi Takemura, Jun Ueda
  • Organizer: 2012 ASME Dynamic Systems and Control Conference
  • Place of Presentation: Ft.Lauderdale, FL
  • Year and Date: 2012-10-17
• [Presentation] 確率共鳴現象を利用した指先知覚感度の向上 (2012)
  • Author(s): 末田大和,栗田雄一,服部稔,徳永真和,惠木浩之,竹村裕,上田淳,辻敏夫
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2012
  • Place of Presentation: 浜松
  • Year and Date: 2012-05-29
• [Presentation] Improvement of tactile sensitivity by stochastic resonance: application to vibrating forceps (2012)
  • Author(s): Yuichi Kurita
  • Organizer: ASME Dynamic Systems and Control Conference
  • Place of Presentation: Ft. Lauderdale, FL, USA
• [Presentation] 確率共鳴現象による知覚感度向上に関する考察 (2012)
  • Author(s): 末田 大和
  • Organizer: 第13回計測自動制御学会システムインテグレーション部門講演会
  • Place of Presentation: 福岡
• [Presentation] 確率共鳴現象を利用した指先知覚感度の向上 (2012)
  • Author(s): 末田 大和
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会
  • Place of Presentation: 静岡
• [Presentation] 確率共鳴現象による指先触知覚機能向上性の評価 (2011)
  • Author(s): 末田大和, 栗田雄一, 服部稔, 徳永真和, 惠木浩之, 竹村裕, 辻敏夫
  • Organizer: 日本人間工学会中国・四国支部九州・沖縄支部合同開催支部大会講演論文集
  • Place of Presentation: 112-113
  • Year and Date: 2011-11-26
• [Presentation] Weight and Friction Display Device by Controlling the Slip Condition of a Fingertip (2011)
  • Author(s): Yuichi Kurita, Satoshi Yonezawa, Atsutoshi Ikeda, and Tsukasa Ogasawara
  • Organizer: IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE IROS 2011)
  • Place of Presentation: San Francisco, CA, USA
  • Year and Date: 2011-10-28
• [Presentation] Evaluation of Grasp Efficiency based on Muscle Activity Estimation by Anthropomorphic Robot Fingers (2011)
  • Author(s): Yuichi Kurita, Atsutoshi Ikeda, Tadashi Matsumoto, and Tsukasa Ogasawara
  • Organizer: 2011 International Symposium on Micro-NanoMechatronics and Human Science
  • Place of Presentation: Nagoya, Japan
• [Presentation] Weight and Friction Display Device by Controlling the Slip Condition of a Fingertip (2011)
  • Author(s): Yuichi Kurita, Satoshi Yonezawa, Atsutoshi Ikeda, and Tsukasa Ogasawara
  • Organizer: IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: San Francisco, CA, USA
• [Remarks] Tactile modeling of humans and their applications to computer interface
  • URL: http://www.bsys.hiroshima-u.ac.jp/~kurita/work_e_tactile.html
• [Remarks] Tactile modeling of humans
  • URL: http://www.bsys.hiroshima-u.ac.jp/~kurita/work_e_tactile.html