Basic Study for Haptic Interface System Considered Human Sensory Characteristics

触觉界面是通过皮肤和运动感觉等体感信息在真实世界和虚拟世界之间进行双向交流的人机界面系统所必需的。触觉界面对于增加由视觉和听觉显示组成的网络空间的真实感也很重要。因此，我们进行了触觉界面研究，涉及触觉显示器的发展，以显示材料的质量和使用金属氢化物作动器的可穿戴力显示器。这些显示器是在触觉感知的心理物理实验的基础上设计的。首先，我们量化了人与触觉的空间感知JND (just visible difference)，得到了设计触觉显示系统所需的足够的控制精度。其次，我们测量了受试者通过一个透明的头戴式显示器将手指移动到虚拟物体出现的确切位置的准确性。从实验结果来看，我们发现手指（真实物体）和虚拟物体之间存在深度差距。尽管手指的位置与虚拟物体的位置不一致，但在一定范围内，当触觉反馈出现时，受试者没有察觉到手指与虚拟物体之间的间隙。这种改善的原因似乎是视觉和触觉信息之间的整合。第三，获得受试者被动接触粗糙表面时产生粗糙感的最佳接触压力和扫速，并利用盲文显示器对粗糙表面进行模拟，设计出能够呈现粗糙感的触觉纹理显示器。实验结果发现，在真实粗糙表面和模拟粗糙表面上，当材料表面以50 gf和40 mm/s的速度被按压并扫向手指时，受试者最容易感知粗糙度。此外，我们发现我们的触觉显示器可以呈现与#40 (540 μm) ~ #190 （83 μm）砂纸相同的粗糙度感觉。最后，讨论了先进的触觉界面及其在辅助技术领域的应用需要解决的问题。少

Haptic Interfaces are necessary for a human interface system with bilateral communication between the real world and the virtual world through somatosensory information such as cutaneous and kinesthetic senses. The haptic interfaces are also important to increase the reality of cyber space composed of visual and auditory displays. So we performed haptic interface studies which concerned the development of tactile displays for presenting quality of materials and a wearable force display using a metal hydride actuator. These displays were designed on the basis of psychophysical experiments regarding haptic perception. First, we quantified the JND (just noticeable difference) of human spatial perception with touch sense and obtained the necessary and sufficient control accuracy, for designing haptic display system. Second, we measured how accurately subjects moved their finger to the exact location where virtual object appeared through a see-through head-mounted display. From the experime … More ntal result, it was found that there were depth gaps between fingers (real objects) and virtual objects. Although the location of the finger did not correspond with that of the virtual, there was a range where the subjects did not perceive the gap between their fingers and virtual objects when tactile feedback presented. It would appear that the reason for this improvement was the integration between visual and tactile information. Third, we obtained the optimal contact pressure and sweeping velocity to produce the sensation of roughness when subjects passively touched rough surfaces and were simulated by rough surfaces using a Braille display in order to design a tactile texture display which may present the sensation of roughness. From the experimental results, it was found that subjects could perceive roughness most easily when material surfaces were pressed and sweep onto the finger at 50 gf and 40 mm/s in both real rough surfaces and simulated surfaces. Moreover we found that our tactile display could present roughness sensation as same as #40 (540 μm)〜#190 (83 μm) sandpaper did. Finally, we discussed some problems to be solved for the advanced haptic interface and for its application to the field of assistive technology. Less