Enhanced Human Interface Using Distributed Pressure and Haptic Displays

为了补充触觉显示器的表现能力，为设计新的多模式显示器提供基础数据，作者开发了两种可由操作员操纵的动态显示设备。其中一个是安装在电脑鼠标上的分布式压力显示器。另一种是由压力显示和铰接式机械手控制力组成的多模式显示。使用显示器进行的一系列心理物理实验得出了设计触觉显示器的基本数据，如两个相邻刺激针之间的最佳距离和刺激针的最小行程。我们介绍了一种基于心理物理学自适应技术的复杂的触觉显示器评估方法，以减少判断显示器呈现能力的时间消耗。研究结果表明：(1)1.8 mm间距的触觉触觉显示器与1 mm的触觉显示器的阈值一致，两相邻刺激针距为1.8 mm的触觉显示器与普通触觉显示器的阈值基本一致，因此相邻两个刺激针距为1.8 mm的触觉显示器的距离为1.8 mm。(2)在心理物理学适应法的基础上，提出了一种触觉显示器的评价方法，并与恒定刺激法进行了比较，验证了该方法的有效性。

In order to supplement presentation capability of tactile displays and to obtain basic data for designing a new multi-modal display, the authors developed two kinds of dynamic display equipments that were manipulated by human operators. One of them was a distributed pressure display mounted on a computer mouse. The other was a multi-modal display composed of the pressure display and an articulated manipulator controlling force. A series of psychophysical experiments using the displays derived basic data for designing tactile displays such as optimal distance between two adjacent stimulus pins and minimum stroke of the stimulus pin. We introduced a sophisticated method for evaluating the tactile displays based on adaptation technique of psychophysics to reduce time consumption for judging presentation capability of the displays. Obtained results are summarized as follows :(1) Distance between two adjacent stimulus pins of 1.8 mm was sufficient to display surface texture because threshold value obtained by a display of 1.8 mm pitch was coincide with one of 1 mm pitch.(2) A new method for evaluating the tactile displays was introduced on the basis of adaptation method of psychophysics and was confirmed by comparison between the present method and constant stimuli method.(3) The present multi-modal display composed of the pressure display and the articulated manipulator was evaluated by the above-mentioned evaluation method and was confirmed because of coincidence between two thresholds obtained from the present display and the mouse mounted display.