Influence of Sparse Contact Point and Finger Penetration In Object on Shape Recognition
Influence of Sparse Contact Point and Finger Penetration In Object on Shape Recognition
复制标题
稀疏接触点和手指穿透物体对形状识别的影响
DOI：
10.1109/toh.2019.2954882
复制
发表时间：
2019
影响因子：
2.9
通讯作者：
Hirota Koichi
中科院分区：
文献类型：
--
作者：
Ujitoko Yusuke;Sakurai Sho;Hirota Koichi
利用触觉显示器使虚拟物体形状可识别是触觉研究的主要主题之一。在以前的工作中，多点触觉显示器已经开发出来，在用户的手指皮肤和虚拟物体之间具有高接触点密度。然而，理想的接触点密度，使直观的形状识别尚未确定。同时，还有一个根本性的问题；也就是说，真实的手指和虚拟物体确实可以穿透，这是这种可穿戴显示器无法解决的问题。本文研究了接触点密度和渗透对形状识别性能的影响。我们准备了一个真实的测试环境，用户触摸真实的物体，我们可以模拟稀疏接触点和穿透。具体来说，用户的手指戴着涂有玻璃颗粒的薄膜，他们触摸灵活变形的聚氨酯泡沫。实验结果显示了一个广泛的趋势，即接触的稀疏性和物体的柔软性影响了实现识别所需的探索时间。此外，研究结果表明，较大的接触密度可以弥补渗透问题。我们通过两个不同的任务来证实这一点：(1)用食指探索物体表面(2)用拇指和食指抓住物体表面。
Making a virtual object shape recognizable using a haptic display is one of the major themes of haptic research. In previous works, multipoint haptic displays have been developed that had a high contact point density between the users' finger skin and the virtual object. However, the ideal contact point density that enables intuitive shape recognition has not been determined yet. Meanwhile, there is also a fundamental problem; that is, real fingers and virtual objects do penetrate, which cannot be solved with such wearable displays. This article investigated the influence of both contact point density and penetration on the shape recognition performance. We prepared a real testing environment where the user touched the real object, and where we could simulate both the sparse contact point and the penetration. Specifically, users' fingers wore thin film coated with glass particles and they touched the urethane foams that deformed flexibly. The result of experiments showed a broad trend where the sparseness of the contact and the softness of the object influenced the exploration time required to achieve recognition. In addition, the result suggested that the larger contact density could make up for the problem of penetration. We confirmed it by conducting two different tasks: (1) exploring the object surface with the index finger and (2) grasping the object surface with the thumb and the index finger.