Body extention using intraoral interface and tactile display - The third arm

2015 Fiscal Year Final Research Report

• Project/Area Number: 25280077
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Partial Multi-year Fund
• Section: 一般
• Research Field: Human interface and interaction
• Research Institution: Waseda University
• Principal Investigator: Hashimoto Shuji 早稲田大学, 理工学術院, 教授 (60063806)
• Co-Investigator(Kenkyū-buntansha): MATSUMOTO Tomomi 早稲田大学, 理工学術院, 助教 (10570905) ; SAKAI Yukihito 福岡大学, 工学部, 准教授 (60409654) ; YAMAGUCHI Tomoyuki 筑波大学, システム情報工学研究科, 助教 (50424825) ; NAKAMURA Shingo 芝浦工業大学, 工学部, 助教 (50424809)
• Co-Investigator(Renkei-kenkyūsha): NAKAMURA Shingo 芝浦工業大学, 工学部, 助教 (50424809)
• Project Period (FY): 2013-04-01 – 2016-03-31
• Keywords: インタフェース / ロボットアーム / 第3腕 / ハプティックフィードバック / ＨＣＩ / ハプティックディスプレイ / 口腔インタフェース / 運動制限機構

Outline of Final Research Achievements

Our aim is to establish a technical foundation for adding a new degree of freedom to human body. The body extension means not only creating a new degree of freedom of motion but also acquiring of the image of the extended body. In this project, we conducted a study to make an artificial third arm that is a robot arm controlled without loss of user's degree of freedom of the innate arms. For the arm control we developed an intraoral interface using a tongue capable of delicate movements. We also developed a haptic display to be mounted on the back in order to present an image of the posture and movement of the third arm to the user. The experimental results proved the validity of the developed system. In addition, we made a prototype of a new principle of the robot arm using a motion limiting mechanism.

Free Research Field

計測・情報工学