| 研究実績の概要 |
In FY2015, main research achievements are proposal of a novel haptic device for generation of localized slippage on fingertip and perceptual experiments on human's slippage sensation. Details are listed below:
1. Proposal of an idea on creation of the localized displacement phenomenon using only one actuation for displaying slippage on human fingertip. Then, we developed a slip haptic display device, which can efficiently assess partial slippage on a human fingertip using a bundle of haptic pins under only one actuation.
2. Building a dynamic model of interaction between haptic pins and finger for investigation of mechanical response of stress or strain on human fingertip under operation of the proposed haptic device.
3. Conducting perceptual test with several variation in designs of the haptic device, and experimental conditions such as applied force, sliding velocity, and directions on slip perception of volunteering subjects. The results showed an efficiency in assessing slip perception using this device. This achievements may help understand human slip perception for the development of haptic display devices in the future.
4. At the same time, a fabric tactile sensor that can sense both static and dynamic events such as proximity, pressure, and slip was developed. Preliminary results suggest that the sensor could be utilized as robotic skin on robot's hand for assessing contact state, including slippage detection.
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| 現在までの達成度 (区分) |
現在までの達成度 (区分)
2: おおむね順調に進展している
理由
Firstly, all the plans for the FY2015 was conducted, including building a model for studying mechanical characteristics of human tactile sensation and proposal of a device for displaying slip perception on human fingertip. Especially, we presented a novel design of the above haptic display device by only one actuation for the first time. This design was then filed as a patent. In addition, the research on the haptic display device with theoretical analysis was accepted for presentation at International Conference on Robotics and Automation (ICRA) 2016, and published as journal paper at prestigious IEEE Robotics and Automation Letters.
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| 今後の研究の推進方策 |
In FY2016, it is planned to clarify how human can perceive the localized displacement as a sensory substitution for slip perception using the proposed haptic display device. Details are below:
1. Development of a new version of the haptic device that is compact, wearable, and attachable to conventional haptic device.
2. Experiments in which the participants conduct a task in the virtual environment will be carried out. The task could be a mimic of a palpation task, such as moving the virtual ball from A to B in a soft environment.
3. Teleoperation task will be conducted, in which participants would control a remote robotic hand grasping an object with tactile feedback from the proposed haptic display device
4. In addition, a research on the robotic skin will be also carried out. This sensor could help remote robots sense various contact states and feedback to operator in the teleoperation system.
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