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Perception of Finger Angle Position in Grip-type Haptic Display based on Grasping Force
Katsunari Sato,Naoki Kawakami,Susumu Tachi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this study, we propose a novel grip-type haptic display for controlling a virtual (or robotic) hand (Fig. 1). This grip-type haptic display enables us to control a virtual hand and perceive haptic information based on a reactive force and a spatially distributed tactile feedback. Because this proposed display does not need any actuators to produce the reactive force, a simple haptic display is developed. In a grip-type haptic display, it is difficult to perceive the finger position because of the fixed position of the user’ fingers. However, we consider that it is possible to perceive the finger position by means of the effort exerted. Therefore, we performed an experiment to discriminate the applied force and confirm that the force discrimination threshold was sufficiently small. Then, we constructed a one-fingered prototype using an electrotactile display. Using this prototype, we qualitatively confirmed that the reactive force with the spatially distributed tactile feedback can produce dynamically changing haptic information.
Teleoperation System with Haptic Feedback for Physical Interaction with Remote Environment
Dzmitry Tsetserukou,Katsunari Sato,Naoki Kawakami,Susumu Tachi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
The paper focuses on the teleoperation system TeleTA with haptic feedback designed to realizehapticcommunication with remote human, to achieve high level of maneuverability of robot arm in unstructured environment,and to increase effectiveness of physical Human-Robot interaction. The human operator directs the robot arm to thetarget position, while manipulator sensory system provides safe physical interaction with environment. In order toachieve awareness of collision, to support operator with valuable information (stiffnessand shape of contacting object),and to realize robot-mediated haptic communication, we developedthe innovative tactile and haptic displays, namely,BraTact (for presenting the cutaneous information) and FlexTorque (for presenting the kinaethetic feedback).
Somatotopic distortion of tactile temporal interval estimation
Shinobu Kuroki,Junji Watanabe,Naoki Kawakami,Susumu Tachi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Tactile timing mechanism, which is essential for an accurate response to the external environment, has to com-pensate for the distortions of neural timing signals specifically, signals that comefrom distributed peripheral receptors and body parts, which move dynamically in space. Since an accurate visual timing encoding lack sprecision when two widely separated photo recept or sareused, we studied how tactile timing is encoded in relation to two distances-somatotopic rep-resentation, defined by cortical topography, and spatiotopic representation, defined in the physical world. We conducted one-second tactile-interval estimation experiments in which the spatial distances of the two stimuli were system atically manipulated in somatotopic and spatiotopic representations, and then, we compared the two. Our results showed that somatotopic nerve distance-and not real-world physical distance-plays a dominant role in tactile timing estimations.
Emerging System for Affectively Charged Interpersonal Communication
Alena Neviarouskaya,Dzmitry Tsetserukou,Helmut Prendinger,Naoki Kawakami,Susumu Tachi,Mitsuru Ishizuka 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
The paper focuses on a novel system iFeel_IM! that integrates 3D virtual world Second Life, intelligentcomponent for automatic emotion recognition from text messages, and innovative affective haptic interfaces providingadditional nonverbal communication channels through simulation of emotional feedback and social touch(physicalco-presence). The motivation behind our work is to enrich social interaction and emotional involvement of onlineinterpersonal communication. iFeel_IM! users can not only exchange messages but also emotionally and physically feelthe presence of the communication partner (e.g., family member, friend, or beloved person).
Effect of haptic feedback on pseudo-haptic feedback for arm display
Mari Tatezono,Katsunari Sat,Kouta Minamizawa,Hideaki Nii,Naoki Kawakami,Susumu Tachi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
We propose a haptic feedback system for an arm in order to obtain the sensation of stiffness and the boundaryof virtual objects. Powerful haptic displays are large and heavy, interfering with movement in the virtual environment.Here, we focus on an illusion called pseudo-haptic feedback, which provides the results of haptic feedback using onlyvisual impressions. Since pseudo-haptic feedback is known to be inappropriate for applications requiring strong force, acombination of pseudo-haptic feedback and real haptic feedback is proposed for a compact haptic display. This studyexamines the effectiveness of this combination by comparing the stiffness of two walls. Pseudo-haptic and real hapticfeedbacks are applied to one wall, and only real haptic feedback is applied to the other wall. The results verify that themagnitude of the force perceived with the application of a combination of pseudo-haptic and real haptic feedbacks isgreater than that of the force perceived by the application of only real haptic feedback.