22 巻 (2017) 1 号 p. 103-112
To achieve multi-fingered assembly task with limited visual information in VR environment, the system needs to allow user recognize the contact status between manipulated object and other object through haptic information. In VR environment where Virtual Coupling (VC) is jointly used with ungrounded force display devices, the parameter of VC should be set as low to avoid producing excessive force. However, the decreased parameter potentially disrupts the recognition of object rotation. In this research, we propose Rotational component emphasizing Virtual Coupling (RVC), which extracts the distance due to the rotation between the user and VR hands, and emphasizes it by applying a larger VC coefficient. We assessed the recognition accuracy of inclination angles of invisible planes using fingertip-worn substitutive-type ungrounded force display devices in twelve participants. The results revealed that RVC outperforms conventional VC in the recognition of contacting surface through a manipulated object.