高速アクティブビジョンを用いたリアルタイム振動可触化システム

抄録

This study develops a real-world haptization system based on high-speed active vision that can virtually touch a remote human-untouchable object vibrating at the audio frequency level such as product machines operating at high speed and heated systems in factories. A high-speed active vision system can simultaneously observe small vibrations at hundreds of Hertz by executing digital image correlation analysis with sub-pixel accuracy in real time at 500 fps. A remote user enables wide-angle observation by operating its pan-tilt mirror direction with a trackball interface, and virtually feels the vibration by exciting his finger with a high-speed one-axis vibrator. Several experimental results show the effectiveness of our vibration haptization system that enables remote touch on human-untouchable vibrating objects such as a boiling electric kettle, a heated boiler, and a fast-rotating pump motor.