抄録
Presentation of various softness feeling of complicated multilayer anatomical structures has been required for the medical robots. However it has not yet been realized, because the model of a physical and physiological multilayer softness has not been mane. And quantification of physiological multilayer softness is necessary to make the model. In this study, quantification of physiological multilayer softness was investigated. Subjects' finger touched hard or soft single-layer jellies and touched the double layer jellies of which upper layer was soft or hard, respectively in this experiment. After that, subjects evaluated in 5 categories of "softness feeling", "elasticity feeling", "wrapping feeling", "pushing feeling", "multilayer feeling". The results showed that the correlation was founded that "softness feeling" and "elasticity feeling", "wrapping feeling", "pushing feeling". And it was characterized with significant differences in all the jelly. Therefore, in quantification of physiological multilayer softness, it was suggested that "elasticity feeling" and "pushing feeling" are necessary. Next, it is needed to investigate the quantification of psychological multilayer softness using the sample of more "multilayer feeling".
