2011 年 16 巻 3 号 p. 355-361
Some teleoperation systems provide a reaction force to the operator in order to improve the maneuverability of the systems and almost all these systems simultaneously present visual information such as camera vision. As for the visual information, it is well-known that the color gives us psychological influence. It is said that the impression of the hardness is changed by lightness of color; we feel the light color objects soft and dark color objects hard. If color actually influences the human ability of perceiving force, then the perception of reaction force may change according to the brightness or contrast of the visual information. Therefore, we investigate whether the perception of force changes according to the parameters of object color. In this study, a haptic device, PHANToM Omni, is used for displaying reaction force when touching the object constructed in a virtual space. In the experiments, it was confirmed that the hardness of objects with low-value color tend to be perceived higher.