A Study on Haptic Interfaces

在这个项目中，我们获得了一些关于触觉界面的基本结果。该研究的目的是实现一种系统，将触觉从人工传感器传输到人体皮肤，并具有高保真度。为此，我们研究了新的基本物理效应的触觉设备，传感器的触觉感觉像人的皮肤，触觉显示的新机制，以及在人体皮肤的信息处理。结果总结如下：研究了一种新型超声发射器的工作原理。强超声在皮肤上产生适合触觉显示的辐射压力，因为它可以精确控制，具有高空间分辨率和时间响应。本文研究的热诱导超声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，最终获得了大于1kpa的强超声。2)触觉显示：更多关于人类触觉感知的基础和信息研究澄清了人类皮肤的触觉分辨率。我们提出了一个关于人类触觉决定的假设。由于人类的触觉感知存在着一个矛盾的特性，即人体皮肤具有较大的两点分辨阈值，但却能分辨出物体表面非常精细的特征，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，并得到了实验的证明。3)触觉传感器为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。每个具有单独10的传感芯片检测应力张量的6个分量，并通过芯片发射的光发送数字信号。由于传感芯片不需要电线，因此它们可以在高密度的传感器皮肤中三维定位，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。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