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A Basic Study on Tactile Interface Devices Modeled after Skin Structure and Sensory Characteristics of Human Hands

模仿人手皮肤结构和感觉特征的触觉接口设备的基础研究

基本信息

批准号：
07650465
负责人：
INO Shuichi
金额：
$ 1.41万
依托单位：
HOKKAIDO UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1995
资助国家：
日本
起止时间：
1995 至 1996
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-07650465/
关键词：
Tactile Information Processing Skin Psychophysics Human Interface Tactile Sensor Tactile Display Virtual Reality Robotics 手指皮膚感覚テレロボティクス

项目摘要

We have been studying how to reproduce a tactile sensation on fingertips with reality in order to design tactile interface devices for virtual reality and tele-robotics. In this study, tactile information processing on quality of materials and movement of a grasping object was investigated based on psychophysical experiments. From experimental results, temperature change patterns of fingertip skin were very important to recognize what kind of materials contacted the skin surface. The Optimal room temperature to recognize materials was approximate 20 degrees centigrade. Next, the detection ability of the direction of strain applied to fingertips was measured. The directional differential limens for strain were 10-17 degrees as longitudinal and 7-10 degrees as transversal. There were dependency of skin locus and difference between right hand and left hand. We have designed new tactile interface devices (sensor and display) on the basis of the above experimental results. The tactile senso … More r had compliance and detectability of the 3D force direction as well as force itself. The surface of this sensor was given a rugged pattern like a fingerprint to detect a texture of objects effectively. It was proven that the tactile sensor had the similar detection ability of human fingers. The tactile display presenting sharing and pressure force and quality of materials was designed. This device used a pneumatic system to separate from the driving mechanism enabling a small and light weight display. The air pressure on each cylinder was controlling both pressure and shearing sensations by means of a three dimensional moving stage. Moreover, this display was composed of a Peltier module and a PID controller to change the temperature of skin surface dynamically. It was ascertained that the tactile display has the ability to present the shearing sensation by controlling the pressure change pattern logarithmically and the quality of materials by changing the temperature of skin surface from psychophysical experiments. In addition to the above results, other three findings can be drawn from this study : i) a new tactile stimulation method for hearing substitute, ii) influence of tactile sense of the great toe on dynamic standing balance, iii) a new force display system using metal hydride actuators for rehabilitation of a human elbow joint. Less

我们一直在研究如何在指尖上再现与现实的触觉感觉，以设计触觉接口设备的虚拟现实和远程机器人。本研究以心理物理学实验为基础，探讨了触觉信息处理对物体材质和抓取物体运动的影响。从实验结果来看，指尖皮肤的温度变化模式对于识别接触皮肤表面的材料是非常重要的。识别材料的最佳室温是20摄氏度左右。接着，测量施加到指尖的应变的方向的检测能力。应变的方向微分阈值纵向为10-17 °，横向为7-10 °。左右手皮肤部位存在相关性和差异性。在上述实验结果的基础上，我们设计了新的触觉接口设备（传感器和显示器）。触觉传感器 ...更多信息 r具有3D力方向以及力本身的顺应性和可检测性。该传感器的表面被赋予了像指纹一样的粗糙图案，以有效地检测物体的纹理。实验证明，该触觉传感器具有与人手指相似的检测能力。设计了一种用于显示材料质量和压力大小的触觉显示器.该装置使用气动系统与驱动机构分离，从而实现小而轻的显示器。每个气缸上的空气压力通过三维移动台控制压力和剪切感觉。此外，该显示器由Peltier模块和PID控制器组成，动态改变皮肤表面温度。通过心理物理学实验证实了触觉显示器具有通过数学上控制压力变化模式来呈现剪切感觉的能力和通过改变皮肤表面温度来呈现材料质量的能力。除了上述结果，其他三个发现可以从这项研究得出：i）一个新的触觉刺激方法的听力替代品，ii）触觉的大脚趾的动态站立平衡的影响，iii）一个新的力显示系统使用金属氢化物驱动器的人肘关节康复。少