| 研究実績の概要 |
We present the concept of a novel haptic display device that could generate lateral localized displacement on a human fingertip, thus enhancing human perception of partial slip phenomenon. We also addresses a perceptual experimental setup for this haptic device and its effects on human slip perception. This device is characterized by a bundle of pins whose ends gently make contact with a human fingertip. These pins are arranged on a supporting base that can displace endings of the pins to a different extent simultaneously with a single actuation, thus successfully generating localized slippage on a human fingertip. There are no relative movements between pins and the finger pad, resulting different skin stretch instead of moving across the skin surface. A novel characteristic of this design is that the pattern of localized slippage could be generated simply by altering the geometric shape of the supporting base and the number of haptic pins. We proposed 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. To determine the possible setups that maximizes the sense of partial slippage, we tested with various designs of the haptic device, and experimental conditions such as applied force, sliding velocity, and directions on slip perception of volunteering subjects. The results obtained in this research may help assess human slip perception for the development of haptic display devices.
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