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Clarification of Human-being's Force Feeling Mechanism and its Application to Force Feeling Telecommunication

人类力觉机制的阐明及其在力觉通讯中的应用

基本信息

批准号：
18300073
负责人：
YABUTA Tetsuro
金额：
$ 10.04万
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：
2006
资助国家：
日本
起止时间：
2006 至 2007
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-18300073/
关键词：
Force Feeling Haptic Interface Illusion Telecommunication Virtual Reality Haptic Perception

项目摘要

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 that is a force display device. Moreover, the possibility of force feeling telecommunication is also clarified as its application of this study. Advantages of this research 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 experiments.In the subject of the previous scientific research, the force feeling mechanism was clarified during sudden small weight change of a holding object. In this study, arm motion effect is added to the experiment condition. Results show that motion effects reduce perceptive thresholds and changing rate of the holding object weight increases sensitivity of the force feeling, whose data are classified in clear patterns. New Haptic Interface devices are made to extend its operation area, which is used to clarify the possibility of the force feeling telecommunication. Functions of both force and position information are examined in this system by making experimental hybrid control system that can change gradually from position control to force control. On the contrary to our estimation, this result means that force feeling telecommunication cannot be realized only by force control system, but can be realized by hybrid force and position control system. This is why the position control must be used to make reaction force of the manipulation device.

本研究的目的是通过使用基于触觉界面（力显示设备）的虚拟现实技术来阐明人类的力感觉机制。此外，本研究还阐明了力感通信作为其应用的可能性。这项研究的优点是既可以在虚拟现实环境中通过改变数学模型来改变实验条件，又可以在实验过程中轻松获得受试者的运动数据。在先前的科学研究主题中，阐明了握持物体的重量突然发生微小变化时的力感觉机制。本研究在实验条件中加入了手臂运动效应。结果表明，运动效应降低了感知阈值，握持物体重量的变化率提高了力感的敏感性，其数据分类清晰。新的触觉接口设备被制造出来以扩展其操作区域，这用于阐明力感电信的可能性。通过制作可以从位置控制逐渐转变为力控制的实验混合控制系统，在该系统中检验了力和位置信息的作用。与我们的估计相反，这个结果意味着力感通信不能仅通过力控制系统来实现，而是可以通过力和位置混合控制系统来实现。这就是为什么必须使用位置控制来产生操纵装置的反作用力。