| 研究実績の概要 |
Throughout FY 2021-2022 we worked on multiple iterations of the implementation of the three main components of the project: 1) Haptic unit 2) Haptic tips and 3) Software
Haptic Unit: We improved upon our three prototypes and started carrying out experiments using the latest version. The device was implemented using a custom PCB, and manufactured using a PCB provider in Japan. The size of the device was similar to our previous prototype (21x35mm footprint) and it includes all components required (motor driver, IMU, encoder input). The firmware was changed so that bilateral communication can be achieved between a host computer and the device, and the firmware can be easily updated via JTAG. The onboard feedback control for the motor was implemented as well.
Haptic Tips: We developed 4 new different tips to provide different type of haptic feedback (tapping, dragging, squeezing, vibration). The tips can be attached using a cantilever mechanism, so they can be easily attached to the device. We performed a tip testing experiment with users, and most interactions could be correctly perceived and identified by users.
Software: We improved the GUI to enable users to create the tactons in a simple manner depending on the type of Tip attached to the device. This GUI outputs code that the user can integrate easily in a ROS environment for ease of use.
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| 今後の研究の推進方策 |
In the upcoming year, we plan to solve some issues related with the developed tips. Due to the characteristics of the motor used, the response speed is slightly slow and not very suitable to produce certain types of tactile feedback. To solve this, we are going to use a faster motor, and include gearboxes in every tip so that the rotational speed on the tip can largely vary without requiring to change the motor.
Additionally, we are planning to start dissemination via papers and conferences, as well as identifying key players who would benefit from the developed device, and work together to find different applications where the proposed device could be of use.
We will develop an alternative similar architecture using components off-the-shelf, so that users have the choice of using our specific devices or making their own with existing components.
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