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Networked virtual space that enables remote haptic sharing

网络虚拟空间可实现远程触觉共享

基本信息

批准号：
15500058
负责人：
FUJITA Kinya
金额：
$ 2.43万
依托单位：
National University Corporation Tokyo University of Agriculture and Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2003
资助国家：
日本
起止时间：
2003 至 2004
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-15500058/
关键词：
virtual reality tactile haptic remote sharing virtual space

项目摘要

1.ObjectiveEstimation, transfer and display of the physical properties of soft objects over the computer network is expected to provide the function to touch and feel the distant objects. Especially, the haptic sense sharing has potential applications such as remote palpation or haptic broadcast. This study is focused on to develop a prototype remote haptic sharing system based on the fingertip contact area control and to examine the feasibility of the system.2.Projects and resultsThe pinch of a soft deformable object causes the sinking of the fingertip and it increases the contact area. Because, the role of this information is greater than the reaction force, a novel contact area control device with force feedback function was developed. The device consists of the pneumatic contact area control device and the wire-driven force feedback device. The contact area was calculated using Hertzian contact theory using the Young's modulus, which is converted from the transferred stiffness. The stiffness of the objects was estimated from the reaction force and the fingertip displacement of the sending user.The paired-comparison experiments (receiving subjects were required to answer the softer object from sequentially pinched two objects by the sending user) were carried out in five adult volunteers. The average cognitive rate (rate of correct answer) of the difference was 96%.3.Concluding remarksA haptic remote sharing system was proposed, which consists of the fingertip force and contact area display device and sensors to real-time stiffness estimation. Real-time estimation of the elastic soft objects and the recognition of the transferred and displayed virtual object were experimentally demonstrated.

1.目的通过计算机网络对软对象的物理性质进行估计、传输和显示，以提供触摸和感觉远处对象的功能。特别是触觉共享，在远程触诊、触觉广播等方面具有潜在的应用前景。本研究的重点是开发一个基于指尖接触面积控制的远程触觉共享系统原型，并验证该系统的可行性。2.项目和结果柔性变形物的挤压会导致指尖下沉，从而增加接触面积。由于这种信息的作用大于反作用力，因此研制了一种新型的具有力反馈功能的接触面积控制装置。该装置由气动接触面积控制装置和绳力反馈装置组成。接触面积的计算采用赫兹接触理论，由传递的刚度换算成杨氏弹性系数。通过反作用力和发送者的指尖位移来估计物体的硬度，并对5名成年志愿者进行配对比较实验(要求受试者回答发送者按顺序夹住的两个物体中较软的物体)。差异的平均认知率(答对正确率)为96%。3.结论提出了一种触觉远程共享系统，该系统由指尖作用力和接触面积显示装置以及用于实时刚度估计的传感器组成。实验演示了弹性软体物体的实时估计和传输和显示的虚拟物体的识别。