Understanding Tactile Functions that Contribute to Human Dexterity Based on Reproductions of Cutaneous Sensation with Real-time Simulation

2023 Fiscal Year Final Research Report

• Project/Area Number: 21H04542
• Research Category: Grant-in-Aid for Scientific Research (A)
• Allocation Type: Single-year Grants
• Section: 一般
• Review Section: Medium-sized Section 20:Mechanical dynamics, robotics, and related fields
• Research Institution: Tohoku University
• Principal Investigator: Konyo Masashi 東北大学, 情報科学研究科, 准教授 (20400301)
• Co-Investigator(Kenkyū-buntansha): 佐瀬 一弥 東北学院大学, 工学部, 准教授 (20805220) ; 永野 光 神戸大学, 工学研究科, 助教 (70758127)
• Project Period (FY): 2021-04-05 – 2024-03-31
• Keywords: 触覚ディスプレイ / 皮膚感覚 / マニピュレーション / 実時間シミュレーション / 多指力覚提示

Outline of Final Research Achievements

The aim of this study is to establish a tactile cyber-physical system (CPS) that simulates contact between the fingers and an object at high speed in real time, reproducing cutaneous sensation with a distributed tactile display. Additionally, it seeks to empirically investigate human grasping and manipulation strategies. To establish the fundamental technologies, we have developed: 1) a world-class distributed tactile display technology with 32 channels at the fingertips using suction stimulation; 2) real-time, high-speed finite element simulation technologies for flexible objects, multiple contacts, and friction; and 3) a multi-finger manipulation environment that can independently present skin sensations and force sensations. In the experiment, a similar trend to that of real manipulation was confirmed, suggesting that the distributed tactile perception of the contact surface is involved in the perception of conformity during grasping.

Free Research Field

ロボティクス・メカトロニクス

Academic Significance and Societal Importance of the Research Achievements

触覚サイバー・フィジカル・システムを実現し，分布触覚ディスプレイ，高速変形シミュレーション，複数指に適用可能な多自由度の力覚提示装置などの要素技術を確立した．触覚CPSの実現は，従来，直接観察が困難であったヒトの把持操り運動に伴う皮膚変形と接触面の触覚状容器の活動，および対象物との力学的拘束状態を可視化したり，感覚刺激の条件に直接介入することが可能となる．このような触覚CPS技術は，製品の形状による操作性の評価や，ロボットやVRのリモート操作の支援など，様々な応用技術への発展も期待される．