多層硬軟感閾値と物体の厚さの関係

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 focusing on the thickness. Ten subjects' fingers touched to 3.75%(softer) and 12.5%(harder) concentration single-layer gelatin jellies and touched to 5 double layer gelatin jellies of which upper layer were 3.75% jelly at thickness of 2mm, 4mm, 6mm, 8mm, 10mm, and lower layer were 12.5%jellies at thickness of 5mm, respectively. After that, subjects were answered whether the specimen had multilayer tactile. The results showed that the threshold of psychological and physical multilayer hardness/softness were between upper upper 6mm and 8mm jellies layer.