スタイラスの共振を利用したハプティックデバイスの硬さ表現能力の向上

抄録

The perception of hardness is fundamental for the sense of hand, but it is difficult to render the hardness of stiff objects when the power of haptic devices is limited. There is a method of using vibration stimulus to enhance the presentable hardness of objects in a haptic device. However, this method requires high frequency response characteristics for a haptic device. Therefore, in this study, we proposed a U-shaped stylus that improves the hardness rendering ability of a haptic device by using resonance, and conducted a perceptual experiment to confirm the effect of the stylus. As a result, we clarified that the hardness rendering ability can be effectively improved by using and adjusting the resonance frequency of the U-shaped stylus.