なぞり動作時の指腹部形状変化に着目した触感提示デバイスの提案

抄録

In recent years, visual and auditory information presentation technology has been used for surgical simulation in the medical field, but there are few practical examples of tactile information presentation technology, which is important for safe and accurate surgery and palpation. In particular, measurement and presentation of tactile information at a remote location is needed for the practical application of remote palpation. In this study, we focused on the mechanical phenomena in the finger abdomen during the tracing motion and developed a device to present the sensation (tracing sensation). Specifically, we observed mechanical phenomena during tracing using OCT and force sensors. As a result, it was suggested that there are differences in the contact position and the change tendency of contact force depending on the hardness of the sample. In addition, we designed a system for presenting tracing sensations to a flexible object equipped with a sheet structure to realize these phenomena using a geometric model and confirm the operation of the prototype device.