2010 年 10 巻 1 号 p. 1-9
In this paper, we propose a method for presenting surface shapes, including curve-shaped asperity and textures of objects. In our previous research, we focused on the surface shape and texture of objects and proposed a method for presenting surface shape with polygon-shaped asperity and texture; therefore, this earlier method cannot represent surface shapes with curve-shaped asperity. To represent such asperity, a virtual surface is constructed by combining multiple sinusoidal waveforms. By tracing the constructed virtual surface using a haptic interface, a user can feel various types of reaction force based on defined parameters of the sinusoidal waveforms, skin friction, and stiffness of the virtual surface. Furthermore, we develop a system for Kansei evaluation that presents a user with a virtual tactile sense based on reaction force using the proposed method. Evaluating Kansei from tactile feelings using the developed system is beneficial in developing products touched by humans. Experimental results indicate the effectiveness of the proposed method and the potential of the developed system for Kansei evaluation.