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Wataru Nozaki, Ken'ichi Koyanagi, Toru Oshima, Takayuki Matsuno, ...
Article type: Article
Session ID: 2P1-N05
Published: May 11, 2007
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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The purpose of this study is development of a passive type virtual reality glove, which represents force sensations of grasping virtual objects and rather enhances immersive feelings in virtual space. VR technologies are recently actively researched for application or practical use, and actually some sensor gloves were commercialized. Though, force display gloves did not become popular. We aim to develop a passive force display glove which consists of only passive elements like brakes, has no danger of hurting operator even if the controller runs away, and is to have characteristics of safety, high performance and inexpensive. Especially, we put emphasis on high safety of the device.
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Kouta MINAMIZAWA, Naoki KAWAKAMI, Susumu TACHI
Article type: Article
Session ID: 2P1-N06
Published: May 11, 2007
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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We propose a wearable ungrounded haptic display to present the mass of a virtual object. We found that the deformation of the fingerpads can generate a reliable gravity sensation even when proprioceptive sensation on the wrist or arm is absent. We implemented the prototype device, which has a simple structure comprising dual motors, and then evaluated the recognition ability of the virtual mass sensation presented on the operator's finger by our proposed method.
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Naohito YOSHIDA, Masamichi SAKAGUCHI, Jumpei ARATA, Hideo FUJIMOTO
Article type: Article
Session ID: 2P1-N07
Published: May 11, 2007
Released on J-STAGE: June 19, 2017
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Nowadays, navigation systems in driving and walking are becoming common. Sound and image are generally used for the interface of these navigation systems. In this study, we developed a miniature and lightweight haptic interface using rotational friction for navigation systems. The prototype system consists of a GPS sensor, a geomagnetic sensor, a laptop PC, and the haptic interface. A field experiment of direction guidance in walking was conducted using the prototype system.
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Yoshihiro TANAKA, Akihito SANO, Mayumi ITO, Hideo FUJIMOTO
Article type: Article
Session ID: 2P1-N08
Published: May 11, 2007
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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In this paper, the novel tactile device considering nail function, the tactile nail chip, is discussed. Nails are not just the best instruments to scratch. They enhance fine touch, protect fingers, and improve our tactile sensitivity. Previously, we focused on the deformation of nails by nail polish and proposed the tactile nail chip affecting tactile sensation. In this paper, a prototype of the tactile nail chip is designed on the basis of the mechanism of nail deformation, and fundamental experiments using a soft rubber finger with a nail are done to discuss the effect of the tactile nail chip on our fingers and tactile sensation.
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Akihito SANO, Yoshihiro TANAKA, Mayumi ITO, Hideo FUJIMOTO
Article type: Article
Session ID: 2P1-N09
Published: May 11, 2007
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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Nails are not just the best instruments to scratch. They enhance fine touch, protect fingers, and improve our tactile sensitivity. The nail plays an important role in finger function, increasing tactile sensitivity. In this paper, the novel tactile device considering nail function is discussed.
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Rui FUKUI, Masayuki SHODAI, Taketoshi MORI, Tomomasa SATO
Article type: Article
Session ID: 2P1-O02
Published: May 11, 2007
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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This paper reports the development of the intelligent container, a unit of the logistical support robot system in living space. The intelligent container plays a role of contact point for human and robots in the system. The container is implemented a grasping navigation mechanism for robot handling, RFID reader for the recognition of contents, and LCD device to display supporting information to human and robot.
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Rui Fukui, Masayuki Shodai, Taketoshi Mori, Tomomasa Sato
Article type: Article
Session ID: 2P1-O03
Published: May 11, 2007
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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This paper reports the development of a mechanism for grasping container cases in home logistical use. When we expect robots to carry something at home, robots have to grasp various goods at home. However, it's very difficult in terms of the complicated problems of recognition and control. To solve these problems, we make a proposal using container cases in home logistical use. Using container cases in logistical use, we can limit subjects which robots have to deal with. In this paper we describe the development of a grasping mechanism only for such container cases. This mechanism can passively permit 10mm errors in positioning. To realize the needs, the mechanism consists of the guide mechanism with a combination of a taper pin and a hole, and the slide mechanism which can switch high and low friction automatically.
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Tatsuya Nakanishi, Kazunori Umeda
Article type: Article
Session ID: 2P1-O04
Published: May 11, 2007
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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An intelligent room which recognizes gestures and support operators is required in various places in recent years. This paper proposes a mouth motion recognition technique for indicating a target object in an intelligent room. DP matching is applied to low resolution images. Effectiveness of this technique is verified by experiments.
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Masanao KOEDA, Yasuyuki NINOMIYA, Munetaka SUGIHASHI, Tsuneo YOSHIKAWA
Article type: Article
Session ID: 2P1-O05
Published: May 11, 2007
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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This paper proposes an estimation method of relative position and attitude between two haptic devices. In multiple haptic devices environment, it is necessary to know the position and attitude between devices accurately. However the measurement is difficult and troublesome. In the proposed method, relative position and attitude can be easily calculated by using the several coordinates of end-point position of both devices. Experimental results show its effectiveness and accuracy.
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Akira KOBAYASHI, Shohei FUJINO, Daisuke SATO, Masaru UCHIYAMA
Article type: Article
Session ID: 2P1-O06
Published: May 11, 2007
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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In this paper, we describe the development of a surgical simulator for brain tissue pushing operation using a brain spatula. It is important to present tactile sensation in surgery simulator, so our main aim is to provide surgeons with a tool which can teach them the correlation between deformation and applied force. For this purpose, smoothing the discrete reaction force is significant. So we discuss about contact model that occurs multi-point collision between the brain spatula and brain tissue, and verify the availability of the development system.
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Takahiro HAMADA, Makoto MIZUKAWA, Yoshinobu ANDO
Article type: Article
Session ID: 2P1-O07
Published: May 11, 2007
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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I propose new haptic device for the Operation improvement of PAS(Physical Agent System). This device is a force and torque hybrid interface with 6 DOF force feedback. Force and torque are generated by the sense of forward movement out of reciprocated vibration of micro-displacement through adroit utilization of human sensory characteristics or the sense of rotational force by adjusting rotation velocities and position of four eccentrically weighted rotors. I verified whether the power and the torque of the device were generated by the simulation. As a result, the wave of the simple harmonic motion was able to be confirmed.
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Masayuki KAWAI, Yuya TAKAHASHI
Article type: Article
Session ID: 2P1-O08
Published: May 11, 2007
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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This paper discusses a haptic display for grasping a virtual object with two fingers on a networked virtual reality environment. A haptic Interface is a useful device in virtual reality technology and users can make a feeling of touching virtual object. Especially, in a virtual environment connected by a network system, users can share tasks and feelings. However, with a networked virtual environment, the haptic interface will make an unstable behavior because of a communication delay. This paper proposes a new method using inter-client communication in a networked virtual reality environment. The method uses a haptic display method based on coupling impedance for internal and external forces. This paper shows a basic algorithm and some experiment are performed to show the effects of the proposed method
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Takashi MITSUDA, Norichika MATSUDA
Article type: Article
Session ID: 2P1-O09
Published: May 11, 2007
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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Passive force display system can display only anti-power in the principle. For example, when an operator held an object and stood still, gravity of the object must act on the hand of the operator. However, passive force display system cannot display the force unless the operator moves the hand. As a new technique to make up for a weak point of this passive system, this study proposes a force display system by tightening of a wrist. Tightening of a wrist by air pressure produces a pseudo force to hand of the operator. This report shows the pseudo force display system in which operator can feel the weight while manipulating virtual objects, and the experimental result of the haptic discrimination threshold test.
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