2022 Fiscal Year Final Research Report
Research on high definition stable haptic device for multi-finger by biofeedback
| Project/Area Number |
20K11916
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Review Section |
Basic Section 61020:Human interface and interaction-related
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| Research Institution | Hiroshima Institute of Technology (2022)
Tokyo Institute of Technology (2020-2021) |
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Principal Investigator |
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| Project Period (FY) |
2020-04-01 – 2023-03-31
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| Keywords | ハプティックデバイス / ヒューマンインタフェース / バーチャルリアリティ |
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| Outline of Final Research Achievements |
In this study, we studied a multi-finger operation haptic device using biofeedback for the purpose of improving the accuracy and stability of the haptic device. Aiming to improve the accuracy of the haptic presentation device when it comes into contact with an object, we actively incorporate changes in the grasping force that people perform unconsciously in their daily lives into the haptic presentation. By changing it, we realized a high rigidity that could not be presented until now.To measure the gripping force, we created a special end effector that abstracts the grip and measured it. A computer simulation and an evaluation experiment showed the improvement of operability and stability that had never existed before.
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| Free Research Field |
ヒューマンインタフェース
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| Academic Significance and Societal Importance of the Research Achievements |
多指操作環境の構築は手術手技，リハビリ，技術伝承，生産システムなど，様々な応用が期待されている．特にストリング駆動の力触覚提示デバイスは我々が世界に先駆けて研究・開発を行なっているシステムである．その中で，我々が提案する操作者の状態を利用したバイオフィードバックはヒトが無意識のうちに行なっている把持操作における操作者の内部状態を操作の表には現れない内力としての把持力を推定し，制御に用いるものであり，多指操作環境において実現したことは重要な意味を持つものであると考える．
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