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Development of a haptic training system for transferring softness at fingers

Research Project

Project/Area Number 26730104
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeMulti-year Fund
Research Field Human interface and interaction
Research InstitutionKyoto University (2015-2016)
Gifu University (2014)

Principal Investigator

ENDO TAKAHIRO  京都大学, 工学研究科, 助教 (70432185)

Project Period (FY) 2014-04-01 – 2017-03-31
Project Status Completed (Fiscal Year 2016)
Budget Amount *help
¥3,770,000 (Direct Cost: ¥2,900,000、Indirect Cost: ¥870,000)
Fiscal Year 2016: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2015: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2014: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Keywords技能伝承 / ハプティックインタフェース / 触力覚 / バーチャルリアリティ / 教育工学
Outline of Final Research Achievements

The aim of this research is to develop a haptic training system for transferring softness sensation at fingers. To accomplish this aim, we have improved a multi-fingered haptic interface to a haptic interface, which can present softness sensation at fingertips, and we have proposed a skill training method for transferring softness at human fingertips. In particular, we have realized a passive training methodology focusing intensively on learner's observation/experience, an active training methodology focusing on correction, and an integrated training method which integrates both methods.

Report

(4 results)
  • 2016 Annual Research Report   Final Research Report ( PDF )
  • 2015 Research-status Report
  • 2014 Research-status Report
  • Research Products

    (9 results)

All 2017 2016 2015 2014

All Journal Article (6 results) (of which Peer Reviewed: 6 results,  Acknowledgement Compliant: 6 results,  Open Access: 1 results) Presentation (3 results) (of which Int'l Joint Research: 1 results)

  • [Journal Article] Contact-Force Control of a Flexible Timoshenko Arm2017

    • Author(s)
      Takahiro Endo, Minoru Sasaki, Fumitoshi Matsuno
    • Journal Title

      IEEE Trans. on Automatic Control

      Volume: 62 Issue: 2 Pages: 1004-1009

    • DOI

      10.1109/tac.2016.2569432

    • NAID

      120006488640

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Contact-Force Control of a Flexible Timoshenko Arm in Rigid/Soft Environment2017

    • Author(s)
      Takahiro Endo, Minoru Sasaki, Fumitoshi Matsuno, Yingmin Jia
    • Journal Title

      IEEE Trans. on Automatic Control

      Volume: 印刷中 Issue: 5 Pages: 2546-2553

    • DOI

      10.1109/tac.2016.2599434

    • NAID

      120006488641

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Haptic Interface for Displaying Softness at Multiple Fingers: Combining a Side-faced-type Multi-fingered Haptic Interface Robot and Improved Softness-display Devices2016

    • Author(s)
      Takahiro Endo, Ayaka Kusakabe, Yuta Kazama, Haruhisa Kawasaki
    • Journal Title

      IEEE/ASME Transactions on Mechatronics

      Volume: Vol. 21, No. 5 Issue: 5 Pages: 2343-2351

    • DOI

      10.1109/tmech.2016.2567453

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Side-faced-type Multi-fingered Haptic Interface2015

    • Author(s)
      遠藤孝浩, 川﨑晴久, 中川志信, 山下誠治, 土屋陽太郎, 石榑康彦
    • Journal Title

      Transactions of the Society of Instrument and Control Engineers

      Volume: 51 Issue: 4 Pages: 251-259

    • DOI

      10.9746/sicetr.51.251

    • NAID

      130005065075

    • ISSN
      0453-4654, 1883-8189
    • Related Report
      2015 Research-status Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] A fine motor skill training system using multi-fingered haptic interface robot2015

    • Author(s)
      Takahiro Endo, Haruhisa Kawasaki
    • Journal Title

      International Journal of Human-Computer Studies

      Volume: 84 Pages: 41-50

    • DOI

      10.1016/j.ijhcs.2015.08.006

    • Related Report
      2015 Research-status Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Journal Article] Softness Sensation by a Side-Faced-Type Multifingered Haptic Interface2014

    • Author(s)
      遠藤孝浩,風間祐太,川崎晴久
    • Journal Title

      IEEJ Transactions on Industry Applications

      Volume: 134 Issue: 10 Pages: 913-920

    • DOI

      10.1541/ieejias.134.913

    • NAID

      130004694111

    • ISSN
      0913-6339, 1348-8163
    • Related Report
      2014 Research-status Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Presentation] Force Control of a Flexible Timoshenko Arm for Softness Display2016

    • Author(s)
      Takahiro Endo, Fumitoshi Matsuno
    • Organizer
      2nd IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization
    • Place of Presentation
      成蹊大学(東京都武蔵野市)
    • Year and Date
      2016-03-07
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] Timoshenkoアームによる柔らかさ提示2015

    • Author(s)
      遠藤孝浩, 松野文俊
    • Organizer
      電気学会 メカトロニクス制御研究会
    • Place of Presentation
      芝浦工業大学(東京都江東区)
    • Year and Date
      2015-08-06
    • Related Report
      2015 Research-status Report
  • [Presentation] Collision Avoidance and its Experimental Investigation for a Side-Faced-Type Multi-Fingered Haptic Interface2014

    • Author(s)
      Takahiro Endo, Haruhisa Kawasaki
    • Organizer
      2014 IEEE International Conference on Systems, Man, and Cybernetics
    • Place of Presentation
      San Diego (USA)
    • Year and Date
      2014-10-05 – 2014-10-08
    • Related Report
      2014 Research-status Report

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Published: 2014-04-04   Modified: 2018-03-22  

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