A Study on Haptic Interfaces

在这个项目中，我们获得了触觉界面的一些基本成果。该研究的目的是实现一种将触觉从人工传感器高保真地传输到人体皮肤的系统。为了实现这一目标，我们研究了触觉设备的新基本物理效应、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。强超声波在皮肤上产生适合触觉显示的辐射压力，因为它可以通过高空间分辨率和时间响应进行精确控制。这里研究的热感应超声波发射器适合产生如此强烈的声音。我们展示了声音产生的基本原理和增强强度的方法，最终获得了超过1 kPa的强超声波。2）触觉显示……更多关于人类触觉的外行和信息研究阐明了人类皮肤的触觉分辨率。我们提出了关于人类触觉测定的假设。由于人类触觉感知存在矛盾的特性，即人类皮肤具有相对较大的两点辨别阈值，但它可以区分物体表面的非常精细的特征，因此真实触觉显示的触觉分辨率一直是一个谜。我们的假设解释了这一点并通过实验得到了证明。3）触觉传感器为了实现上述结果所建议的具有忠实于人体皮肤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。每个传感芯片都有一个单独的 10 个传感器，可检测应力张量的 6 个分量，并通过芯片发出的光发送数字信号。由于传感芯片不需要电线，因此它们可以高密度地三维定位在传感器皮肤中，而不会失去皮肤的弹性。设计了包括VLSI芯片在内的传感芯片。较少的

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