二層物体における多層硬軟感閾値

抄録

Tactile presentation of various hardness/softness feeling of complicated multilayered anatomical structures has been required for the medical robots, because the relationship between psychological and physical multilayer hardness/softness has not been clarified. In this study, the threshold of psychological and physical multilayer hardness/softness was investigated by validating the prediction from the previous study using the psychological engineering approaches and the physical Young's modulus of multilayer. Eleven subjects' fingers touched to both 3.75%(softer) and 5.0%(harder) concentration single-layer gelatin jellies and touched to 5 double layer gelatin jellies of which upper layer was 3.75% and 5.0% jelly, and lower layer were 10.0%, 12.5%, 15%, 20%, and 25% jellies, respectively. After that, subjects were answered whether the specimen had multilayer tactile. The results showed that the threshold of multilayer hardness/softness was consistent with the prediction of the previous research.