人工指による触知覚解析に基づく硬軟感および摩擦感推定法

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2016/08/01

タイトル(英語): An Estimate Method of the Hardness and Friction Parameter based on Analysis of Haptic Perception with an Artificial Finger

著者名: 脇田　航（広島市立大学大学院情報科学研究科），齊藤　充行（広島市立大学大学院情報科学研究科），小林　康秀（広島市立大学大学院情報科学研究科）

著者名(英語): Wataru Wakita (Graduate School of Information Sciences, Hiroshima City University), Mitsuyuki Saito (Graduate School of Information Sciences, Hiroshima City University), Yasuhide Kobayashi (Graduate School of Information Sciences, Hiroshima City University)

キーワード: 人工指，触知覚，触知覚解析，力触覚センシング　　Artificial Finger，Haptic Perception，Analysis of Haptic Perception，Haptic Sensing

要約(英語): To achieve more realistic haptic rendering, it requires the haptic modeling based on the haptic sensing and analyzing of the physical phenomenon which occur between objects in the real world and requires the control of haptic device at real-time. In the field of the robotics, bilateral control is used to transmit the haptic information between multipoint. In our previous work, we developed a friction sensing and rendering system based on the bilateral control with ONE 3DOF haptic device. However, it was difficult to measure and represent the haptic perception with human finger. Therefore, we propose an estimate method of the haptic perception such as the hardness and friction of the target object based on the bilateral control with ONE 3DOF haptic device and an artificial finger.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.136 No.8 （2016） 特集Ⅰ：知能メカトロニクス分野と連携する知覚情報技術　特集Ⅱ：国際会議ICESS 2015

本誌掲載ページ: 1085-1091 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/136/8/136_1085/_article/-char/ja/