Construction of spatiotemporally high-resolution tactile display based on simultaneous measurement of skin deformation and skin vibration

2022 Fiscal Year Final Research Report

• Project/Area Number: 20K04398
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Review Section: Basic Section 20020:Robotics and intelligent system-related
• Research Institution: Kobe University
• Principal Investigator: Nagano Hikaru 神戸大学, 工学研究科, 助教 (70758127)
• Project Period (FY): 2020-04-01 – 2023-03-31
• Keywords: ハプティクス / 触覚ディスプレイ / 触覚センサ / 遠隔操縦

Outline of Final Research Achievements

This project focused on the combined contribution of cutaneous and kinesthetic sensation to human tactile perception, and developed a method to reproduce tactile sensation using the findings based on simultaneously measurement of multiple information.
We constructed a system that can simultaneously measure the high-frequency skin vibration, tangential and normal forces, velocity when tracing a material, and modeled the relationship between the features extracted from the measured values.
We also developed a system that can transmit vibration tactile sensation as cutaneous information and force as kinesthetic information in a composite manner, and conducted evaluation experiments using the system. As a result, it was shown that the combination of appropriate motion and presentation information is important for the transmission of various tactile sensations.

Free Research Field

ハプティクス

Academic Significance and Societal Importance of the Research Achievements

時空間的に高解像度な触覚ディスプレイは，高い臨場感を有するVRシステム，手術・触診シミュレータ，高度な遠隔操縦支援システムなどに貢献し得る重要な要素である．
触覚は複数の感覚（深部感覚と皮膚感覚）の統合によって知覚される複雑な感覚であり，本研究の成果は，深部感覚と皮膚感覚を複合的に再現する手法を構築することで高い臨場感を達成するというエンジニアリング的な貢献を有するとともに，触覚がどのように統合されて知覚されるのかという人の知覚メカニズム解明に利用するというサイエンス的な貢献を有する成果である．