Development of a tactile display for a hand with sensory feedback

开发具有感官反馈的手部触觉显示器

• 批准号: 04555090
• 负责人: IFUKUBE Tohru
• 金额: $ 4.29万
• 依托单位: HOKKAIDO UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Developmental Scientific Research (B)
• 财政年份: 1992
• 资助国家: 日本
• 起止时间: 1992 至 1993
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-04555090/
• 关键词: Tactile sense; Virtual reality; Robot hand; Material quality; 触覚情報処理; テレイグジスタンスロボット

How the tactile sensation should be fedback to the human is one of the big subjects in the fields of artificial hand, functional electrical stimulation, teleexistence robot and virtual reality. In this study, what kind of physical parameters is related to recognition of material quality was investigated based on psychophysical experiments and a tactile display method was proposed in order to display the material quality to the human hand as properly as possible. Furthermore, a force display to an elbow was designed using an actuator made of metal hydride alloy. The efficacy of these displays was evaluated by attaching them to a robot hand with sensory feedback. The following is summary of research results.(1) When the material with various surface roughness, various viscosity and various heat capacities was displayd on the finger surface, the sensation of roughness was found to change from smooth to rough at 30 um particle size of the material surface and the sensation became the most slimy at the viscosity of 17dPa.s. The quality of material could be displayd some extent by changing the temperature of the finger surface.(2) Differential limen of shear stress sensation was found to be 20 to 30 um when fingers grasped the material. The differential limen depended on the moving direction of the material and it was the lowest at 32 degree skin temperature. The weight of virtual material could be displayd by attaching the metal hydride actuator to an elbow.Many adjectives related to the tactile sensation were seemed to be represented by combination of parameters such as surface roughness, viscosity and skin temperature. We are plannin to design a tactile display for a robot hand with sensory feedback based on the results obtained by this research.

如何将触觉反馈给人是人工手、功能电刺激、远程存在机器人和虚拟现实等领域的重大课题之一。本研究以心理物理实验为基础，研究了什么样的物理参数与材料质量的识别有关，并提出了一种触觉显示的方法，以尽可能准确地将材料质量显示给人的手。此外，采用金属氢化物合金作作动器，设计了弯头的力显示装置。通过将这些显示器连接到具有感官反馈的机器手上来评估它们的功效。以下是对研究结果的总结。(1)当手指表面显示具有不同表面粗糙度、不同粘度和不同热容量的材料时，发现在材料表面粒径为30 um时，粗糙度的感觉由光滑变为粗糙，在粘度为17dPa.s时，感觉最粘稠。通过手指表面温度的变化，可以在一定程度上显示材料的质量。(2)手指抓握材料时剪应力感觉差值为20 ~ 30 μ m。差异阈值与材料的移动方向有关，在32℃皮肤温度下最低。通过将金属氢化物致动器连接到肘部，可以显示虚拟材料的重量。许多与触觉有关的形容词似乎由表面粗糙度、粘度和皮肤温度等参数的组合来表示。我们正计划根据本研究获得的结果，设计一种具有感官反馈的机器人手部触觉显示器。

项目成果

S.Ino,T.Izumi,M.Takahashi,T.Ifukube: "Design of an actuator for file-existence display of position and force to human and elbow" T.Robotics and Mechatronics. 14. 43-48 (1992)

S.Ino、T.Izumi、M.Takahashi、T.Ifukube：“用于显示人体和肘部位置和力的文件存在显示的执行器的设计”T.机器人学和机电一体化。

S.Ino, T.Izumi, M.Takahashi and T.Ifukube: "Psychophysical study on sensation produced by grasping for a robot hand with sensory fiedback" IEICE D-II. J75. 1909-1916 (1992)

S.Ino、T.Izumi、M.Takahashi 和 T.Ifukube：“通过感觉反馈对机器人手进行抓握所产生的感觉的心理物理学研究”IEICE D-II。

T.Shimizu: "Development of an actuator using meiel hydride for a force display to an elrow joint" J.Robotics and Mechatronics. 5. (1993)

T.Shimizu：“开发使用梅尔氢化物的执行器，用于对 elrow 关节进行力显示”J.Robotics and Mechatronics。

S.Ino, T.Izumi, M.Takahashi and T.Ifukube: "Design of an actuator for file-existence display of position and force to human and elbow" T.Robotics and Mechatrornics. 14. 43-48 (1992)

S.Ino、T.Izumi、M.Takahashi 和 T.Ifukube：“用于显示人体和肘部位置和力的文件存在显示的执行器的设计”T.Robotics and Mechatronics。

S.Shimizu,S.Ino,T.Izumi,M.Takahashi,T.Ifukube: "Development of actuator using metal hydride for force display to elbow joint" J.Robotics and Mechatronics. 5. 220-225 (1993)

S.Shimizu、S.Ino、T.Izumi、M.Takahashi、T.Ifukube：“开发使用金属氢化物用于肘关节力显示的执行器”J.机器人和机电一体化。