著者

大岡 昌博 三井 雄介 小村 啓

出版者

一般社団法人 日本機械学会

雑誌

年次大会 2018 (ISSN:24242667)

巻号頁・発行日

pp.J1620001, 2018 (Released:2019-03-25)

被引用文献数

1

著者

横山 綾亮 小村 啓 坪井 諭之 大岡 昌博

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 (ISSN:21879761)

巻号頁・発行日

pp.18-00283, (Released:2018-10-30)

参考文献数

13

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Hardness representation in VR is one of the important problems to create virtual touch feeling as if the feeling is caused by real touch. In this study, we are attempting to improve the hardness representation method by combining the pseudo-haptics and tactile stimuli, which was presented in our previous research. In the current study, we investigated the ability of both of these methods to express tactile hardness stimulation: in Experiment A hardness was generated solely by visual stimulation using CG; and in Experiment B hardness was generated solely by the dot-matrix display. Based on the results of Experiments A and B, in Experiment C we conducted psychophysical experiments on the ability to express tactile hardness by combining the effects of pseudo-haptics and the tactile stimuli. In Experiment C, we were able to express six levels of distinguishable hardness, while only four and two levels were observed in Experiments A and B, respectively. In addition, the relationship between hardness evaluation and the six levels shows high linearity with R2 = 0.98.

著者

小村 啓 大岡 昌博

出版者

一般社団法人 日本機械学会

雑誌

IIP情報・知能・精密機器部門講演会講演論文集 2014 (ISSN:24243140)

巻号頁・発行日

pp._G-1-4-1_-_G-1-4-2_, 2014-03-18 (Released:2017-06-19)

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In virtual reality (VR) study, there are two ways active and passive touches to explore a virtual object with the tactile mouse. There is an issue "which is superior active or passive touch?" The active touch is to touch and perceive an object actively, while the passive touch is to touch and perceive a change of an object passively. The purpose of this study is to evaluate a perception precision in active and passive touches to clarify the best exploration method. This experiment is exploring the degree of leaning of the edge line using the tactile mouse in the virtual space. We develop a new tactile display called a palm tactile mouse and evaluate the perception precision using an angle difference-threshold and a judgment probability-function calculated by constant method of the psychophysical experiment. As a result, we confirmed that perception precision is the best when explore speed is 90 mm/s, and the active touch is not different from the passive touch.

著者

大岡 昌博 小林 光男 篠倉 恒樹 鷺沢 忍

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.56, no.531, pp.2919-2925, 1990-11-25

被引用文献数

2

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In order to improve the intelligence of a robot with a sense of touch, we have developed a tactile sensor array which can detect the distribution of the three components of a force vector. The tactile sensor consists of a 6×15 matrix of 3×3 mm sensing sites; each site is made of two single-crystal silicon rings on which semiconductor strain gauges are formed by means of a semiconductor processing technique. In this paper, we have introduced formulas to calculate applied force/moment, a center of distributed pressure, and some parameters of slip and hardness, and then carried out sensing tests in order to validate those formulas. Experimental results show that applied force/moment and the center of distributed pressure can be detected with practical accuracy. Slipping, rolling and rotating states can be distinguished by combinations of the slip parameters. Moreover, mechanical properties can be sensed by means of combinations of the hardness parameters. A lump in a soft object can be recognized using an adequate threshold method.

著者

大岡 昌博 三矢 保永 竹内 修一 亀川 修

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.62, no.598, pp.2250-2256, 1996-06-25

被引用文献数

7 10

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The present paper describes the implementation of and experiments on a three-axis tactile sensor applying an optical wave guide plate. The sensor is comprised of a sparse array of columnar feelers and a dense array of conical feelers, which are formed on opposite sides of a silicon rubber sheet. The columnar feelers contact objects while the conical feelers contact the acrylic optical waveguide plate. Three components of a force vector applied to the columnar feeler are identified from contact areas of four conical feelers which are covered by one columnar feeler. Contact points of conical feelers photographed using a CCD camera are transferred into a frame memory board installed in a personal computer and they are memorized as 8-bit patterns. A one-bit pattern is quantized from the 8-bit pattern by utilizing a suitable threshold value; the contact areas of conical feelers are obtained from the total number of picture cells of the one-bit pattern. In evaluation experiments, several combinations of vertical and horizontal forces are applied to the columnar feeler through a probe attached to a three-axis force sensor. The experimental results show that the three components of the force vector can be calculated from the four contact areas, and that hard material is not favorable for the conical feelers but is suitable for columnar feelers.