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Quantification of Force/Tactile Sensation

Quantification of Force/Tactile Sensation

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カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門(英文)

発行日: 2023/03/01

タイトル(英語): Quantification of Force/Tactile Sensation

著者名: Kouhei Ohnishi (Keio University/Kanagawa Institute of Science and Technology/Haptics Technology Association), Yuki Saito (Keio University)

著者名(英語): Kouhei Ohnishi (Keio University/Kanagawa Institute of Science and Technology/Haptics Technology Association), Yuki Saito (Keio University)

キーワード: force/tactile sensation,real haptics,least squares estimation

要約(英語): The force/tactile sensation (hereafter referred to as f/t sensation) has not been well defined for a long time. In the applications of real haptics, it is necessary to quantitatively evaluate the quality of the f/t sensation. The paper proposes the definition of f/t sensation as the stimulus signal. Accordingly, the instantaneous value of the stimulus signal of the f/t sensation represents the simultaneous ratio of the value of reaction force and the value of velocity. If the contact target is modeled as an inertia-damper-spring model, the stimulus signal of the f/t sensation is expressed as the equivalent circuit of the sum of the impedance (or admittance) and the voltage source (or the current source). The definition of the stimulus signal of the f/t sensation in frequency area clarifies the physical meaning. The paper presents the experimental results that confirm the viability of this novel definition on the stimulus signal of the f/t sensation.

本誌: IEEJ Journal of Industry Applications Vol.12 No.2 (2023) Special Issue on “Motion Control and its Related Technologies”

本誌掲載ページ: 125-130 p

原稿種別: 論文/英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/12/2/12_22004546/_article/-char/ja/

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