Studies on development of the hand and skin touch sensing method

[目的]本研究的目的是在触觉评价过程中对手指运动进行数值分析，以确定弹性、粗糙度、柔韧性和柔软度。研究人员根据这些受试者徒手辨别物品的能力，将他们分为三组。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使用与那些不太擅长的人不同的手指动作。然后每组使用相同的传感器手套。我们通过传感器获得了作用力等数据，并根据评价类型分析了手指运动的差异。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，手指运动根据评估类型以及每个受试者最初分配的组而变化。[实验]研制了一种新型的手套式测量系统， ...更多信息 EM由具有四行和四列单元电池的二十个压力传感器片（一个片尺寸：1.8 × 1.7cm）构成。受试者将手套戴在右手上，如图1所示。他们闭上眼睛，评估无纺布的手感10秒钟。在每个步骤中，受试者被引导根据特定的目的来评估织物的手感，例如评估弹性、粗糙度、弯曲柔性和柔软度。在实验中总共使用了30名受试者，15名男性和15名女性，年龄都在20-29岁之间。我们从传感器手套获得了关于施加力（g/cm 2）的数据，该数据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。第一个是所施加力的变异系数，以下称为C.V.A.F.。第二个是作用力中心的范围，以下简称为R.C.A.F.。[结果]研究结果表明：（1）更敏感的人用更小的力和更高的C.V.A.F.移动手指。他们还表现出手指运动的特点是在短距离内的不同运动。（2）更敏感的人更依赖食指而不是拇指进行评估。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感。(3)To为了评估弹性，受试者用高施加力和低变化触诊布料。R.C.A.F.产生了类似的结果。这意味着人类垂直和静态地移动他们的手指。(4)To评估粗糙度，人类用低施加力但高变化触诊loth的手。这意味着人类水平地动态地移动手指。（5）人类可以很容易地理解如何评价粗糙度和弹性。我们的结论是，在定义手指运动的特点，被试者的了解每个评价过程是一个非常重要的因素，通过压力传感器，我们观察到，被试者有特定的手指运动的特点，当他们评价织物的手感弹性和粗糙度。因此，我们进行了实验，实验对象能够以一种与他们对评估目的的理解相称的方式来评估loth之手。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