著者

堀江 新 下林 秀輝 齊藤 寛人 稲見 昌彦

出版者

特定非営利活動法人 日本バーチャルリアリティ学会

雑誌

日本バーチャルリアリティ学会論文誌 (ISSN:1344011X)

巻号頁・発行日

vol.25, no.4, pp.402-411, 2020-12-25 (Released:2020-12-25)

参考文献数

43

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In this paper, we propose a tactile display with multiple stimulus elements that present rotational shear deformation on the skin, and describe the design of a device that applies the proposed method to the back. Shear deformation stimulation to the skin can be used to perceive force in a small device, and numerous methods have been proposed. Among them, methods that present the distribution of spatial shear stimuli are expected to be a method to reproduce skin sensations with high reality. In this study, we propose a tactile display with multiple stimulus elements that present rotational shear deformation to the skin using a rotating motor. A rotary motor is a widely used actuator that is easy to control, and can be scaled to apply to various body parts. In this paper, we design a device that can present the distribution of shear deformation stimuli in the back as an example of the application of this method. In particular, we focused on the size of the rotating tactors and the distance between the tactors among the form factors, and conducted a perception experiment. It was found that when the size of the tactor was 20mm, the direction of rotation was not perceived and the dynamic range of the intensity of the stimulus was maximized, and spatially continuous stimuli could be presented to the back if the distance between the tactors was 60mm or less.

著者

下林 秀輝 堀江 新 稲見 昌彦

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2020, pp.2P1-M01, 2020

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<p>Tactile presentation devices using mechanical stimuli require that the stimulus elements are properly contacted with the user's skin. Many researchers have developed various kinds of the haptic display to realize the reproduction of skin sensation. Human body has complex shapes so that it is sometimes impossible to contact between stimulus elements and skin. In this study, we introduce the two-axis gimbal mechanism to haptic display. We referenced the ankle mechanism of walking robots for extreme terrain, which can handle complex shapes. In this paper, we conducted the experiments and evaluated the fitting mechanism with the acquired contact area and the pressure value. The results show that our proposed mechanism makes contact area increase and the pressure value in contactors uniform.</p>