Static Friction Sensation Display with Tactile Mirror Information Feedback Mechanism

在本研究中，我们提出了一种新型的触觉感知显示器，称为触觉反射镜，旨在实现高保真的感知信息传输给人类。它具有监测显示在人类手指手掌上的信息并将其反馈给触觉显示控制器的机制。首先，我们设计了人工手指皮肤的脊假设捏举运动的对象，人类的拇指和手指指向，然后设计了一个静态摩擦传感器和显示器分开。此外，我们开发了一个人工迈斯纳和Pacinian小体，其中每一个具有相同的频率特性的相应的人类小体。通过这些过程，我们成功地提高了多级放大器中检测电路的信噪比。我们将人工微粒加入到我们的实验装置中，该装置主要由X-Y-θ平台组成。然后，我们建立了一种方法，用于检测手指皮肤和人的手指之间的接触表面处产生的初始滑动，并通过控制与初始滑动信息的阶段，防止总滑动。通过实验验证了触觉镜的有用性，该方法比使用接触力信息的传统控制方法提前90 ms实现了人类手指初始运动的检测。类似地，我们证明了与没有任何反馈机制的传统触觉显示器相比触觉感知信息的有用性的另一个方面。为了满足将我们的开发安装在SkilMates提案等触觉设备上的未来需求，我们最终制造了一种非常小尺寸的触觉显示器，该触觉显示器具有触觉反射镜，允许与人手指接触的手指皮肤的3轴线性运动。

In the study, we propose a novel tactile perception sensation display called tactile mirror, aiming at attaining, high fidelity in transmitting the perception information to humans. It has mechanisms of both monitoring the information that is displayed on human finger palms and feeding it back to tactile display controllers. First, we designed artificial finger skin with ridges supposing a pinch-lift motion of an object by a, human thumb and a pointing finger, and then designed a static friction sensor and a display separately. Furthermore, we developed both an artificial Meisner and Pacinian corpuscles each of which has the same frequency characteristic of that of the corresponding human corpuscle. Through these processes, we successfully enhanced the S/N ratio of detection circuits in multi-stage amplifiers.We incorporated the artificial corpuscles into our experimental setup which was mainly composed of a X-Y-θ stage. Then, we established a method for detecting incipient slip generated at the contact surface between finger skin and a human finger, and preventing gross slip by controlling the stage with incipient slip information. Usefulness of the tactile mirror was verified through the experiment where this method realized detection of initial human fingers motion 90 ms earlier than a conventional control method using contact force information. Similarly, we demonstrated another aspect of usefulness of the tactile perception information in comparison with a conventional tactile display without any feedback mechanism. To meet the future demand for mounting our development on such haptic devices as our proposal of SkilMates, we finally manufactured an extremely small-sized tactile display with a tactile mirror that allowed 3-axis linear motion of the finger skin that was in contact with a human finger.