A Study on Haptic Interfaces

在这个项目中，我们获得了一些关于触觉感觉界面的基本结果。该研究的目的是实现一种系统，以高保真度将触觉从人工传感器传输到人体皮肤。为了实现这一目标，我们研究了触觉设备的新的基本物理效果，可以像人类皮肤一样感知触觉的传感器，触觉显示的新机制以及人类皮肤中的信息处理。主要研究结果如下：1）超声波发射器的新原理研究了超声波发射器的新原理。强超声在皮肤上产生适合触觉显示的辐射压力，因为它可以以高空间分辨率和时间响应精确控制。本文研究的热致超声发射器适合于产生如此强烈的声音。介绍了声发生的基本原理和提高声强的方法，最终获得了大于1kPa的超声波。 关于我们 1.人体皮肤触觉分辨力的研究。我们提出了一个关于人类触觉确定的假设。由于人的皮肤具有较大的两点分辨阈值，但又能分辨物体表面的细微特征，这是人的触觉感知中存在的矛盾现象，因此真实感触觉显示的触觉分辨率一直是个谜。3）触觉传感器为了实现上述结果所建议的具有与人体皮肤忠实特性的弹性传感器皮肤，我们提出了一种基于光学连接的无线触觉传感芯片。每个具有单个10的传感芯片检测应力张量的6个分量，并发送具有从芯片发射的光的数字信号。由于传感芯片不需要导线，它们可以三维地位于具有高密度的传感器皮肤中，而不会失去皮肤的弹性。设计了包括超大规模集成电路芯片在内的传感芯片。少

In this project, we obtained some basic results on tactile feeling interfaces. The aim of the research was realizing a system to transmit tactile feeling from an artificial sensor to a human skin with high fidelity. Toward this goal, we studied new basic physical effects for haptic devices, sensors that can sense tactile feeling like human skin, new mechanisms of tactile display, and information processing in human skins. The results are summarized as follows.1) New principle of an ultrasound emitterA new principle of an ultrasonic emitter was studied. Intense ultrasound generates radiation pressure on the skin suitable for tactile display because it can be accurately controlled with high spatial resolution and temporal response. A thertnally-induced-ultrasound emitter studied here is suitable to generate such intense sound. We showed the basic principle of sound generation and methods to heighten the intensity, and we finally obtained intense ultrasound more than 1 kPa.2) Tactile disp … More lay and informational studies on human tactile sensationTactile resolution of the human skin was clarified. We proposed a hypothesis on determination of human tactile feeling. Since there were paradoxical properties in human tactile perception that a human skin has relatively large two-point-discrimination-threshold while it can distinguish very fine feature of the object surface, the tactile resolution for realistic tactile display had been a mystery. Our hypothesis explains this and was proved by experiments.3) Tactile sensorFor realizing an elastic sensor skin with faithful properties to a human skin suggested by above results, we proposed a wire-free tactile sensing chip based on optical connection. Each sensing chip with an individual 10 detects 6 components of stress tensor and sends the digital signal with emitted light from the chip. Since the sensing chips need no wire, they can be located three-dimensionally in a sensor skin with high density without loosing the skin's elasticity. The sensing chip including VLSI chip was designed. Less