指先の接触面積と反力の同時制御による柔軟弾性物体の提示

抄録

This paper proposes a new haptic device to display the softness of elastic objects. The fingertip contact area and the reaction force were controlled simultaneously to display the fingertip sinking into soft materials. The contact area was controlled pneumatically by controlling the air pressure between the rubber membrane and the end-effecter of a force display. The psychophysical experiment clarified that the contact area spread in addition to the reaction force provides the more accurate softness sensation.