抄録
In order to investigate effects on presentation tactile-haptic reality, we develop a multi-modal display capable of simulating mechanoreceptors of fingers in addition to the muscle-tendons. The display is constituted of a manipulator having three-degrees of freedom and a gripping force display equipped with two tactile displays. The tactile display has a display pad of a 6-by-4 array of stimulus pins, which generates distributed pressure on a human operator's finger surface. In order to evaluate the present display, we perform Experiment A and B. In Experiment A, human operators judge diameters of virtual pegs. The experimental result shows that estimation precision is enhanced by simultaneous presentation of both tactile and force. In Experiment B, human operators performed virtual peg-in-hole tasks. In the case of loose mates of the peg and hole, precision of centering adjustment is enhanced by the simultaneous presentation From these experimental results, we conclude that the present display is effective in virtual reality technology because the operator performs pick and place tasks in handling virtual objects. However, when an initial deviation angle and clearance between the peg and the hole are small, some of human subjects lose their insertion way during the experiment It implies that rotational since slippage caused by peg rotation should be presented slippage stimulus point is required in addition to pressure stimulus point Therefore we are continuing to develop a new two-axis micro actuator array.
