Clarification of Force Feeling Mechanism based on both Telecommunication and Haptic Illusion

基于电信和触觉错觉的力觉机制的阐明

• 批准号: 16300066
• 负责人: YABUTA Tetsuro
• 金额: $ 8万
• 依托单位: Yokohama National University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2004
• 资助国家: 日本
• 起止时间: 2004 至 2005
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-16300066/
• 关键词: Force Feeling; Haptic Interface; Illusion; Telecommunication; Virtual Reality; Haptic Perception; ハプティックインタフェース; 職知覚メカニズム; 触知覚メカニズクム

The purpose of this research is to clarify force-feeling mechanism of a human being by using a Virtual Reality technology based on Haptic Interface, which is a force display device. At first, Haptic Interface system was developed using a robot finger system. Its advantages are easiness both to change experimental conditions by changing mathematical models in the virtual reality environment and to obtain subject's motion data during the experiment.By making the most use of these advantages, Haptic Illusion field was selected to clarify the force-feeling mechanism. Experimental conditions of this field are very difficult to change in actual physical field. At first, to confirm effectiveness of the system for the Haptic illusion, a Horizontal-Vertical illusion experiment was selected, whose results show its effectiveness. Next, Size-Weight illusion was studied, whose results show that subject finger motion is mainly related to the Size-Weight illusion for passive action when a weight of a object is suddenly added to the operator finger. Another advantage of this system is to realize experimental condition that is never experienced in natural environment. As to this advantage, sudden small weight change phenomenon of an object was selected to clarify the force-feeling mechanism. Theses experiments show the following results. Perceptive thresholds are different for adding and reducing load process. Human beings can perceive a weight change with the magnitude of its rate. When a subject cannot perceive its change under the threshold, he may unconsciously adjust his muscle command to the weight change.Force telecommunication was studied as an application of the force-feeling mechanism. The force telecommunication system was constructed by using a concept of robotic master-slave system, whose fundamental studies show that mirror image occurs in operational spaces and not only force information but also position information are necessary to realize the force-feeling.

本研究的目的是利用一种基于触觉界面的虚拟现实技术--力显示设备，来阐明人的力觉机制。首先，使用机器人手指系统开发了触觉接口系统。它的优点是在虚拟现实环境中通过改变数学模型来改变实验条件，并在实验过程中获得受试者的运动数据，为了最大限度地利用这些优势，选择了触觉错觉领域来阐明力觉机制。在实际物理场中，该场的实验条件很难改变。首先，为了验证该系统对触觉错觉的有效性，选择了一个水平-垂直错觉实验，实验结果表明了该系统的有效性。其次，研究了大小-重量错觉，其结果表明，当物体的重量突然增加到操作者手指上时，被试的手指运动主要与被动动作的大小-重量错觉有关。该系统的另一个优点是实现了在自然环境中从未经历过的实验条件。针对这一优势，选择物体突然微小的重量变化现象来阐明力觉的机理。这些实验显示了以下结果。增加和减少负荷过程的感知阈值是不同的。人类可以感觉到重量随其速度的变化而变化。当受试者在阈值以下不能感知到自己的变化时，他可能会下意识地调整自己的肌肉指令来适应体重的变化。利用机器人主从系统的概念构建了力通信系统，其基础研究表明，工作空间中存在镜像，不仅需要力信息，还需要位置信息来实现力感觉。

项目成果

Analysis of Weight Perceptual Mechanism Based on Muscular Motion Using Virtual Reality

基于肌肉运动的虚拟现实重量感知机制分析

• 发表时间: 2005
• 期刊: Proceedings of 2005 IEEE International Conference on Systems, Man and Cybernetics
• 作者: Masayuki Hara;(T.Higuchi;A;Ohtake;J.Huang;T.Yabuta)
• 通讯作者: T.Yabuta)

ハプティツクインタフェースを用いた仮想環境上における対象物の構築法とその操作について

如何使用触觉界面在虚拟环境中构造和操作对象

• 发表时间: 2004
• 期刊: 日本機械学会論文集(C編) 70巻693号
• 作者: 原正之(山口;本間;藪田)
• 通讯作者: 藪田)

Verification of Haptic, Illusion Using a Haptic Interface and Consideration on its Mechanism

使用触觉接口验证触觉、错觉及其机制的思考

• 期刊: Journal of Robotics and Mechatronics (to be published)
• 作者: Masayuki Hara(T.Higuchi;A.ohtake;J.Huang;T.Yabuta)
• 通讯作者: T.Yabuta)

Perceptual Illusion in Virtual Reality using Haptic Interface

使用触觉界面的虚拟现实中的感知错觉

• 发表时间: 2004
• 期刊: Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robotics and Systems
• 作者: Masayuki Hara;(C.Asada;T.T.Higuchi;T.Yabuta)
• 通讯作者: T.Yabuta)

Construction Method of Virtual Objects and Its manipulation using Hapthic Interface

虚拟物体的构造方法及其利用触觉接口的操作

• 发表时间: 2004
• 期刊: Transaction of the Japan Society of Mechanical Engineers(in Japanese) vol70-C, No.698
• 作者: Masayuki Hara(T.Yamaguchi;J.Honma;T.Yabuta)
• 通讯作者: T.Yabuta)