Studies on development of the hand and skin touch sensing method

[目的]本研究的目的是对手指在触觉评价过程中的运动进行数值分析，以确定手指的弹性、粗糙度、柔软度和柔软度。受试者最初被分配到三组中的一组，根据他们徒手辨别物品的能力。这被认为是一个重要的因素，因为我们假设，那些更擅长这种辨别的人也可能会使用与不太熟练的人不同的手指动作。然后，每组人都使用相同的传感器手套。我们通过传感器获得施加的力等数据，并根据评估类型分析手指运动的差异。然后，使用传感器手套，我们能够识别三组之间的手指运动，并得出结论，手指运动随着评估类型以及每个受试者最初被分配到的组而变化。[实验]我们开发了一种新的手套式测量系统…更多的EM由20片压力传感器片(一片尺寸：1.8x1.7厘米)构成，具有四行四列单元单元。受试者将手套戴在他们的右手上，如图1所示。闭上眼睛，他们对无纺布的手进行10秒钟的评估。在每个步骤中，受试者被指示根据特定的目的来评估布料的手感，例如评估弹性、粗糙度、弯曲弹性和柔软度。共有30名受试者参加了实验，其中男性15名，女性15名，年龄在20-29岁之间。我们从传感器手套中获得了关于作用力(g/cm2)的数据，这是传感器记录的压力值的平均值。在此基础上，我们进一步分析了三种物理数据。第一个是作用力的变异系数，下称C.V.A.F。第二个是作用力中心的范围，以下简称R.C.A.F。[结果]通过我们的研究，我们可以得出以下结论：(1)更敏感的人移动手指的作用力更小，C.V.A.F更高。他们的手指也表现出短距离不同运动的特征。(2)比起拇指，更敏感的人更依赖食指进行评估。不太敏感的人倾向于几乎完全依靠他们的拇指来评估布料的手。(3)为了评估弹性，受试者用高作用力和低变化触碰布料。对R.C.A.F.的分析也得出了类似的结果。这意味着人类的手指既垂直又静态地移动。(4)为了评估粗糙度，人类用较小的外力触碰泥土的手，但变化较大。这意味着人类可以水平和动态地移动手指。(5)人类很容易理解如何评估粗糙度和韧性。研究结果表明，在定义手指运动特征时，受试者对每个评价过程的了解程度是一个非常重要的因素，通过压力传感器，我们观察到受试者在评价布料的弹性和粗糙度时，手指运动具有特定的特征。因此，我们得出的结论是，受试者可以根据他们对评估目的的理解，以一种与他们的评估目的相称的方式来评估这只手。较少

[Purpose]The purpose of this study is the numerical analysis of finger motion in the tactile evaluation process, for such purpose of determining resilience, roughness, flexibility and softness. The subjects were initially assigned to one of three groups according to how well they able to discriminate between items using their bare hands. This was considered an important factor, because we hypothesized that those who were more adept at this discrimination may also use a different finger motion from those who were less adept. Each group then used the same sensor glove. We obtained data such as the applied force through the sensors, and analyzed the differences in finger motion according to type of evaluation. Then with the sensor glove, we were able to identify finger motion between the three groups, and conclude that finger motion varied according the type of evaluation as well as to the group each subject was initially assigned.[Experiment]We developed a new glove-type measurement syst … More em constructed with twenty pressure sensor sheets (one sheet size : 1.8x1.7cm) with four rows and four columns unit cells. The subjects wore the glove on their right hand, as shown in Figure 1. With their eyes closed, they evaluated the hand of a non woven fabric for 10 seconds. At each step subjects were directed to evaluate the hand of cloth in accordance with a specific purpose, such as evaluating for resilience, roughness, bending flexibility and softness. A total of 30 subjects were used in the experiment, fifteen men and fifteen women who were all between 20-29 years of age.We obtained data from the sensor-glove concerning applied force(g/cm2), which is the average of the pressure values recorded by the sensors. From this we further analyzed three kinds of physical data. The first was the coefficient of variation of the applied force, hereafter referred to as C.V.A.F. The second was the range of the center of applied force, hereafter referred to as R.C.A.F.[Results]From our research, we can make the following conclusions.(1)More sensitive humans move their fingers with less applied force and a higher C.V.A.F. They also showed finger motion characterized by varied movement over short distances.(2)More sensitive humans rely more on their index finger for evaluation than their thumb. Less sensitive humans tend to rely almost entirely on their thumb in evaluating the hand of cloth.(3)To evaluate resilience, the subjects palpated the cloth with a high applied force and a low variation. The analysis of R.C.A.F. yielded similar results. This means that the human moved their fingers both vertically and statically.(4)To evaluate roughness, humans palpated the hand of loth with a low applied force but at high variation. This means that humans move their fingers horizontally and dynamically.(5)Humans can easily understand how to evaluate roughness and resilience. We concluded that in defining the characteristics of finger motion, the amount the subject knew about each evaluation process was a very important factor.Through the pressure sensor, we observed that subjects had specific characteristic of finger motion when they evaluated the hand of cloth about resilience and roughness. Thus, we conducted that subjects can evaluate the hand of loth in a manner commensurate with their understanding of the purpose of evaluation. Less