Simultaneous localization and mapping (SLAM) is one of important topics in robotics. However, we must consider various intelligent behaviors in SLAM, e.g., the exploration of unknown areas and effective path planning of mobile robots. To realize these intelligent behaviors, we use a multi-resolution map. The multi-resolution map can be updated by the operators suitable to a specific aim. The first aim is to represent the occupied or empty cells in the built map. In this paper, the next aim is to represent the unknown areas in the built map. Therefore, we propose the exploration method using multi-resolution map in unknown area. The exploration method is based on k-certainty exploration. The experimental results show the effectiveness of the proposed method.

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Cities, where various functions are concentrated in limited area, have been suffering from chronic space shortage. High-rise buildings and underground have been developed to increase space use efficiency. However, those developments just lay out the spaces which are expanded in plane into vertical; there are the physical and monetary limitations. Therefore, the spaces which can change its functions easily/automatically depending on the situations are necessary to increase space use efficiency. So far, smart variable space which realizes various functional spaces by changing its modules dynamically was proposed, and a bedroom type robot module was developed. This paper describes improvement of the module and its operation test.

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A growth number of applications have been promoted for service robots to coexist in a human society. A service robot is a complex embedded system that includes a wide variety of technical components (i.e, software and hardware) to be embedded systematically. This paper describes our study on development processes which we analyzed some parts of robot systems by adopting general-purpose system modeling language (SysML). In this way, we contribute to developing service robot software with SysML notations in a systematic way. In our study, the SysML notation conforms to SysML v1.2 and the Rational Rhapsody tool is used. Results from the analysis are presented.

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A development tool for embedded system using OpenRTM-aist is shown. RT middleware is an standard platform software in which robotic elemental devices such as actuators, sensors, and so on, are treated as 'Components' and those components allows users to re-use them. We developed "RTno" to make it easier to make original embedded system like controllers, sensor network, etc. In this paper, the first version of the RTno is shown in detail.

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A component-based software development is widely applied to solve software complexity and maintainability problems. The TECS which is a ・・type of static component system for ITRON OS is suitable for low level software systems that require real-time capability and stability, whereas the RT-component framework is appropriate to various system integrations, since it has high flexibility and re-usability. Integrating TECS and RT-component provides flexibility and expandability to the TECS as well as stability to the RT-component, so that it makes possible to construct a flexible and stable system. In this paper methods to integrate TECS and RT-component are considered, and some examples are discussed.

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This is the third report of the tools we are developing to help new users of OpenRTM. There is an on-going government project which uses the OpenRTM Platform as a base framework for producing smart robotic software modules. Here, we present two tools that we hope would ease development of robotic systems and also the interface to the upper body humanoid robot HIRO-NX.

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We developped OpenRTM spport tool package RTMEXTender. In this paper, we introduce system construction of RTMEXTender and its philosophy, comparison with ROS.

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The RoboCup@Home league is the global domestic robot competition for autonomous service and assistive robots. It is part of the RoboCup competition. Several benchmark tasks are used to evaluate the robots' abilities in a realistic home environment setting. In the RoboCup@Home, the focus is applied to the following things Human-Robot-Interaction, navigation and mapping in dynamic environments, computer vision and object manipulation. We are developing on the globalization of the software platform of RoboCup@Home.

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We hope that Robot Technology (RT) solves many social problems. Thus, robots need flexible service providing function to work in our living space. Kukanchi is an approach to solve this problem. Kukanchi is the concept to provide services by using distributed RT functions in the living space and enables robot system to provide better services than stand-alone robot service. However, to satisfy user various needs, we need to develop robot system with reusing excellent existing assets. Therefore, in this paper, we propose Kukanchi-based object transport system using RTC-CANopen and refer to this system structure, working sequence and experiment result. This system enables us to develop systems with reusing existing assets and enables robot systems to provide services with users by using RT resources in the living space.

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The deployment and configuration of the software components that make up a complete robotic system using a component-based framework is an important step in using that system. We have developed an experimental tool for the organisation and management of components based on RT-Middleware. It is based on the supervision tree concept from the Erlang programming language. Components are organised into a hierarchy of sub-systems and managed in groups. The supervision tree ensures that dependencies between components are accurately managed when errors occur.

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RT-Middleware is a framework for developing component-based software. A set of command-line tools, known previously as rtcshell and rtsshell, are provided for managing RT-Components and RT-Systems from a command line, in order to allow low-resource use and scriptability. We report on new commands recently added to this toolkit that facilitate the debugging of RT-Components, visualisation and verification of RT-Systems, and managing documentation.

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We propose a new graphical interface that can manipulate RT Components on web browser. RT Middleware is implemented by using CORBA protocol, so that web browser can't communicate with CORBA Name Server and RT Components directly by using HTTP. As solution for this problem, we developed new module that can bridge NameServer and web browser. Furthermore, we implemented prototype web application that displays Name Service View on web browser.

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In unknown environment, depending on the situation, robots are demanded to change behavior during operation to adapt environment. One way to change behavior, it is to change use method of functional elements of robot. We are researching FDNet, because aim to enable to do it. The purpose of this research is to convert constructed systems of FDNet into RTC. We developed interface whicth communicate between FDNet and RT-Middleware, and checked interface behavior. In this paper, we report developed Interface and example of RTC design by using interface, and suggest RTC designed by FDNet.

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Some snake like robots that connects plural vehicles in serial are studied as a rescue robot. These robots are expected to be able to connect various equipment according to a requirement for a disaster scene. However, in the case that the equipments adopt different standard, it is difficult to assemble them easily. Multiple vehicle connected snake like robot KOHGA developed in the previous work is using CAN communication between microcomputers for control. In this study, CANopen is adopted as communication protocol between microcomputers of KOHGA, aiming at modularity. CANopen is one of open networks based on CAN communication. In addition, the delay problem, when a command transmitted to the next vehicle, is improved by installing CANopen and constructing a new decentralized architecture for KOHGA.

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A microbe contains various enzymes enabling multi-step biochemical reaction. Extremely wide varieties of bacteria have been discovered or genetically modified to enhance the process efficiency and to develop new biochemical reactions. To investigate the performances of microbes, it is necessary to not only quantify the number of microbes that are involved in the reaction but also make their reaction conditions consistent. Therefore precise control and immobilization of microbes is crucial. In this paper we propose bacteria handling and immobilization in micro scale holes by dielectrophoresis. This way can control precise amount of bacteria, identify the number of the bacteria and analyze their reaction accurately. We succeeded in handling and immobilizing bacteria in micro scale holes. The number of immobilized bacteria could be controlled and only alive bacteria were successfully collected.

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A dinoflagellate Symbiodinium swims forward by using its transverse flagellum. The propagating wave of the transverse flagellum generates torque of the swimming direction. From this fact, the cell body is assumed to rotate to the opposite direction of the wave propagation to balance the total torque. In this study, the rotational direction was observed to compare with the previously obtained numerical result. Because the transparent cell body is difficult to determine whether the cell body is in the front or back of the focal plane of the objective lens, we conducted the biplane observation, where two objective lenses are focused on a single cell. The observed rotational direction was opposite to that in the prediction.

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We have been investigated how to use protists as living micromachines by controlling their behavior using their taxis. However, there are various multicellular microorganisms that have not been investigated well. In our previous paper, we found that Daphnia showed strong positive phototaxis to the blue light. A motion control system was produced by using a dish-shaped motion control pool with blue LEDs installed in the vertical wall of the pool. The control results showed that Daphnia has much better controllability and maneuverability than protists such as Paramecium or Euglena. We also made an automatic motion control program was made based on a proportional control method. By using the program that can predict the reaction delay of Daphnia, the positioning accuracy of the motion control was remarkably improved. In this paper, we proposed a new scheme to switch the target point (each summit of the star shape) when Daphnia was controlled along the star-shaped target route. In our previous program, we switch the target point when Daphnia pass an arc that the center of the arc is the start point and the arc cross the goal point. In the new scheme we switch the target point when Daphnia cross the line that cross the target point. We were aiming to reduce the positioning error to the guiding line by setting the angle of the switching line to the same angle of the guiding line. The experimental results, however, showed that the positioning accuracy in the automatic motion control experiment did not improve. Daphnia's positioning accuracy may be decided not from the positioning error of the starting point but from the accuracy of swimming along the target line.

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Since most organisms are fairly autonomic, functional and efficient, the study of machines modeled on the movements of organisms is significant in the engineering field. From this point of view, we observed organisms that swim in water by bending motions, and noticed that the swimming direction of polychaete worm is different from that of nematode worm. This is explained that the existence of projecting protrusions of polychaete worm increases the tangential drag component of the body by the movement in water. We have developed the bio-inspired omni-directional multilink propulsion mechanism in fluid by changing the angle of fins corresponding to projecting protrusions. In this study, fin movement synchronized with bending movement was added to increase lateral swimming speed.

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Fish robots that swim with the tail fin do not give the caution to underwater creatures. Therefore, they become useful for the investigation of ecosystem in water and the usage of the environmental surveillance and so on. However, the propulsive velocity of fish robots is extremely slower than that of live fishes. Therefore, in this study, we aim to improve the propulsive performance of fish robot. The fish robot is made for trial purposes. Then, the effects of supply voltage, tail fin flexibility and operating frequency on propulsive performance in the fish robot have been examined. The fish robot has swum fast at high supply voltage, and has swum efficiently at low voltage. Moreover, it has been confirmed that the fish robot swims very fast when the fin flexibility and frequency are appropriate and the tail fin motion is similar to that of a live fish.

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We have developed oscillation wing propulsion type fish robots which was modeled the tuna. In this paper, a Scotch-York type driving mechanism of the caudal fin is used that is powered by the 2.6kW outrunner type sensorless brushless motor. In this report, a refined Scotch-York mechanism was newly made to solve the problem of the stable driving of the caudal fin. The parts of this new mechanism were drastically reinforced and the reduction ratio is 1/45. By using this mechanism, two 300mm span caudal fins were driven stably. The structures of our two special caudal fins, rigid fin with loosen ligament and concave curve self-generation fin, were also refined. We also introduced parallel link mechanism for the spine part to avoid the over-angle of the caudal fin. However, the experimental results showed that the swimming speed with parallel link spine was decreased comparing the rigid spine.

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The kinetic of snake-like robot is a problem of multi-body and free-floating system, therefore, the larger the number of links, the more complex the kinetic model becomes. We introduced COG Jacobian method to derive the kinetic model of 8-link snake-like robot in the previous paper. In this paper, kinetic models of 3 to 8 links are derived, and travel velocity and energy consumption are compared by changing the number of links. The property change caused by the number of links is evaluated through simulations.

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Active Cord Mechanism represented by snake-like robots have the potential to be used for practical applications such as investigating tasks in narrow confined environments. However, the existing snake-like robots haven't combined environment sensing system and robust mechanism, though both of them are necessary to operate in real environments. Therefore we developed a snake-like robot named "ACM-R4n", which has waterproof mechanism and unique torque sensors we proposed in all joint units. The torque sensor is composed of 2 thin plates with cam mechanism and a rubber ring pressing them, and the torque is measured by the displacement between those 2 plates. It also works as a torque limiter because the rubber slips when overload is applied. The effectiveness of the mechanism and control is validated through experiments.

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We have developed a flapping robot equipped with an active feathering function. The wings are driven by voice coil motors (VCMs) of a hard disk drive, so that the flapping amplitude can be varied unlike the most of conventional flapping robots utilizing crank mechanisms. Taking a hint from the structure of the direct-flight-muscle type insects like dragonfly, each wing is driven by two VCMs, thereby the angles of attack can be controlled by changing the relative angle between two VCMs. The detailed mechanism of the wing base to achieve feathering motion, materials and processing of the wing, and the motor drive circuit using power-op-amps are discussed.

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We performed a series of lift force measurements of newly developed flapping robot making use of voice coil motors (VCMs) of a hard disk drive. Each flapping wing is driven by a couple of VCMs, so that the angle of attack (AoA) can be controlled by changing the relative phase of the swing motion between two VCMs. We analyzed the time evolution of the lift force produced by the flapping motion by measuring the change in the weight with a load cell. The lift force upon the down stroke depends on the AoA, and maximum force was obtained at zero AoA. The down force upon the upstroke also depends on the AoA, and it decreases with the increase in the AoA. These results indicate that the active feathering function is effective to maximize the net lift force during the flapping motions.

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In this paper, we focus on a lead-lag motion of a butterfly and clarify the relationship between lead-lag motion and posture control using a butterfly-style robot. A butterfly uses a lead-lag motion concurrently with a flapping and flies like a staircase pattern. The lead-lag motion may influence posture control since it changes the center of lift and wing area. Here, we developed a butterfly-style robot with a small and simple mechanism that realizes both flapping and lead-lag motions and performed takeoff experiments. The results showed that the robot could stabilize the amplitude of body pitch angle and flied forward during even upstroke by the lead-lag motion.

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This paper describes thrust improvement of a flapping microrobot driven by external magnetic fields. The microrobot has a magnetically driven mechanism, equipped with a polyimide film wing and a permanent magnet attached to a torsion spring. When alternating magnetic fields are applied, the wing flaps due to magnetic torque acting on the magnet. The upward thrust is generated by changing the wing shape between up-stroke and down-stroke. The wing design was modified so that the flapping frequency can increase and the wing tip may bend during the down-stroke. As a result, the thrust increased by 1.2 times as much as our previous study.

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We have been developing motor-tendon-joint series connection type biomimetic soft actuators to make robots act jumping, running and dancing like animals. For that purpose, we have been developing a silicone rubber compression type tendon structure for robots which act as a tendon of the muscular-skeletal system of the animals. In the previous paper, we decided the basic construction of the tendon structure and made 1 axis type actuator with this tendon structure. However, the compliance of the tendon structure was not in order to the softness of the silicone rubber. Moreover, it was clarified that the power of the 1 axis type actuator is insufficient for the jumping actuator. Therefore, in this study, we modified the cover plate of the silicone rubber by making 4 holes for each rubbers to allow the rubber's deformation to the side direction. 1 axis actuator was also modified (newly manufactured) by installing 200W D.C. coreless motor instead of 150W motor. The results showed that we can set the rigidity of the tendon structure by changing the softness of the silicone rubber. The newly made actuator can jump 254mm from the statue of the full close position of the knee joint.

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Biomimetic robots are widely researched to achieve running and/or jumping motions. Felines can generate the agility by using strong hinder legs, and has a flexible body. The jumping motion is important to improve the obstacle avoidance of the legged locomotion robot. In this article, we examine the design of the robot based on cat's frame. Some simulations by "OpenHRP3" are performed to design the robot. Torque patterns to generate a jumping motion are discussed these simulations.

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There are many insects which can jump several times its body length. It is reported that desert locusts can jump five times high (about 250 mm) at the peak using its powerful hind-legs. This high level of mechanical performance comes from a special mechanism formed in the cuticle of the hind-legs of the locusts which has the similar function with the spring. In previous our researches, we proposed the model of high power joint mechanism by mimicking locusts leg structure witch two actuators, the spring and link. And, the model was analyzed using Jacobian Matrix derived from cross product. The result of analysis, it was shown that the model produce power more than 10 times as mounted actuators. In this research, high power joint was developed based on knowledge of previous researches and experimented. The result of experiment, it was shown that the joint mechanism can realize walking and jumping.

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We studied locomotion using trunk of the body by lizard type robot. First, we analyzed the load applied to the legs. Second, we made a lizard type robot and measured the load applied to the legs. Third, we made the back-and-forth motion and turning motion by bending and twisting the body. Last, we discuss about the advantage of using the trunk of the body for locomotion.

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This paper proposed a novel liquid cooling system for portable electronic equipment such as a laptop computer. This system includes multiple micropumps serially arranged in a cooling pipe. The moving part of the micropump is composed of a permanent magnet and an elastic plate. When a solenoid coil wound around the cooling pipe generates an alternating magnetic field, the magnet oscillates due to magnetic torque and the elastic plate induces the flow of the coolant. At first the pumping properties of the single and serially arranged micropumps were evaluated. Next, the liquid cooling system was fabricated and tested. As a result, the first prototype has successfully demonstrated good cooling performance.

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The target of this research is to develop a redundant actuator control system for a 2-DOF robotic arm. A multi-motor structure with parallel-mounted small-size motors and an ER fluid clutch is implemented to switch between mono-articular and bi-articular actuation control. The aim of applying the ER clutch fluid is to gain controllability of the viscoelastic property in the joints with simple control algorithms, and to perform precise positioning with smooth starts and stops. In this report, the experimental results of the basic dynamic characteristic of the up-swing arm positioing control when ER fluid clutch is presented. The ER fuild clutch structure tends to provide better shoulder joint angle positioing.

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This paper reports a fabrication of silicon jagged microneedle imitating mosquito's maxilla, which has a three-dimensionally sharp tip. The tip due to electrochemical etching is effective for easy insertion in the viewpoint of large stress concentration and small friction. An experiment of inserting the fabricated needle into an artificial skin of silicone rubber was carried out. During insertion, the resistance force was reduced compared to that of commercial needle. The rate of resistance force per inserting distance in case of jagged needle was smaller than that of straight needle, and vice versa during pulling it out. Assuming one central needle and two outer jagged needles, this experimental fact implies that the jagged shape is effective for inserting the outer needles easily and anchoring the outer needles while inserting the central needle. The cooperative motion of mosquito's jagged outer maxillas and straight central labrum supposedly takes advantage of the same mechanism.

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In this paper, we propose a design method of resistance for Net Structure Proximity Sensor (NSPS). Generally, vision sensors and tactile sensors are used for the external world measurement. A vision sensor has the problem of occlusion and a tactile sensor cannot detect until coming in contact. Therefore, we have developed NSPS that detects the intermediate area of vision and tactile area. NSPS can detect within 1ms the center position of the approaching object and the distance to the object without contact. This sensor is composed of resistor networks connected by phototransistor. The performance of NSPS is determined by the resistance in the networks. However, there was no practical design method of the resisters because of the network circuit. Accordingly, we describe a method for designing easily arbitrary dynamic range and faster measurement speed and confirm the validity of the proposed method.

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This study develops a vibrotactile stimulation method for the fracture of fragile structures. We synthesize the vibrotactile stimulus using the spectra of acceleration stimuli caused by the fracture. We depelop a foot-step display that presents a synthesized tactile stimulus to human soles. The participants of the experiment could identify the virtual structures made of the paper, aluminum foil, and polypropylene film.

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We propose a haptic transmission system that consists of a vision-based cutaneous sensor and a cutaneous display employing electrotactile stimulus. The proposed transmission system can simultaneously transmit kinesthetic, spatially distributed tactile, and thermal information. Users of this transmission system can recognize the shape and temperature of an object as the initial haptic impression, that a user perceives even if he/she does not move his/her fingertip after initially contacting the object. Therefore, we consider that the proposed transmission system may enable a user to perceive some initial haptic impressions and could therefore be utilized to improve the reality of the haptic sense perceived from a remote object.

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This study developed the method of elastic representation on the force input type pointing stick. We proposed to present the elasticity feeling by perceiving displacement that passed sense of touch information to the power that the user had added to the pointing stick. And, we use the friction representation method that we developed as tactile sensation for perception of displacement. In experiment, we asked participants to report how long and how strength they feel while they control virtual object. We had confirmed that this proposed method can represents operation feeling near to elastic physical model.

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This paper describes a development of tactile sensors with an optical wave guide plate, a device of the tactual images presentation and the applications to a haptical flow of the tactual images. We designed a new type of tactile sensors with an optical wave guide plate and are taken the tactual images as the displacement or force distributions issued from the contact patterns given by the surfaces of an object coming in contact with the tactile sensors. The fundamental characteristics are given from the displacement or force distributions. The haptical flows of tactile images as same as the optical flow are estimated for the movement of the displacement distribution issued on the behavior of a robot finger.

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Difficulty in haptic interaction with elastic object is large computational cost of deformation simulation. The authors have been proposed a multirate online remesh deformation simulation of the mass spring damper model (MSDM) and the finite element model (FE-Model). In this paper, acceleration method by GPU for simulation of deformable object using multirate online remesh is discussed.

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Tele-touch is a previously proposed concept, in which realistic tactile sensation is reproduced as if an operator rubs physical surface of remote site. In this research, this concept is involved for active touching motion by a pen. To realize the concept with the pen, a pen type scanner should be combined with a pen tablet type surface acoustic wave tactile display. This report introduces the method of the realization and presents Tele-touch system, the pen type scanner design and its fabrication. To configure a controller, transfer function of the system was focused.

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The purpose of this study is the development of a tactile sensor based on human tactile perception, self-reference and directionality. The sensor is a finger-mounted type and does not interfere in contact of object and skin. We use microphones mounted on fingertip and get mechanical interaction of object and skin. In this paper, availability of the developed sensor is shown and human tactile perception in evaluation is discussed.

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In this paper, relationship between fingertip deformation and perception of slipping direction is experimentally analyzed. Subjects' fingertips were deformed using a thin plastic film and exposed to moving tactile stimuli through the film. The answers given by the subjects revealed the characteristics of the human perception of slipping direction. The result implied that the slipping direction can be controlled by fingertip deformation.

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This paper describes tactile displays to generate contact feeling to a fingertip using shape memory alloy (SMA) and a vibrator. A contact pad is actuated by SMA wires through a lever mechanism. As the contact pad collides against a finger pad, a vibrator simultaneously presents vibrotactile stimulation to the fingertip to modify the contact feeling. A pilot experiment showed that the generated feeling could be modified by the vibrotactile stimulation.

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This paper introduces the system which enables a user not only to interact with a computer by moving one's hand in midair but also to feel touch feedback on one's hand. It would be used as an interface with PCs, games, portable devices, digital signage, and so on. It is also promising in hospitals, food factories, and public spaces. The system consists of a PC, a hand tracker for input, and a tactile display for feedback. The hand tracker uses a depth camera and needs no markers attached on one's hand. The tactile display utilizes ultrasound to produce tactile feedback from a distance. Owing to them, a user does not need to put any devices on one's hand in using the system. The principles are described and the prototype system is presented.

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This study develops an objective index that well describes vibrotactile material textures' quality changes caused by data compression processes. We introduce a linear combination of the power and amplitude spectra that are weighted by the inverse of a detection threshold curve of vibrotactile stimuli. This combination describes the quality deterioration of compressed textures to an accuracy of approximately 80%. These objective indices enhance the development of the lossy data compression algorithms and assist the search for physical quantities that affect perception of vibrotactile textures.

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In this study, we investigate the vibratory perceptual characteristics that relates to the position of the finger and the hand. We focus on an elastic characteristic of the skin and measured the resonant frequency at the multiple positions of the hand. Next, we measured the perceptual thresholds of each position for vibratory stimulus in order to examine the relationship between the resonant frequency and the sensitivity curve of haptic perception. As a result, we verified that the vibration characteristic of skin elasticity affected the sensitivity of Meissner's corpuscle, while it did not affect the sensitivity of Pacinian corpuscle. Based on our experimental results, we propose a new sensitivity mechanism which coincides with perceptual characteristics.

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Because of increasing demands for robots designed to work in the living environment and intuitive interfaces such as iPhones, it is necessary to develop high performance tactile sensors. We are developing a total-internal-reflection based tactile sensor, which reconstructs the sensor surface from a set of feature points on a reflection image of a image pattern. Our proposed method solves Geometric optical constraints by total optimization to reconstruct the sensor surface. By reconstruction from simulated images, we found the proposed method could perform high accurate reconstruction in real time and it was applicable for various sensor shapes and robust to tracking error. Then, we implemented the proposed method on the actual sensor and confirmed the real-time reconstruction.

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In this paper, we considered an assessment function for effective optical elements placement of the Mesh of proximity sensor and searched a simulation result which maximizes the assessment function. Output characteristic of this sensor depends on relative placement of the optical elements. Since the placement has large amount of freedom, designing of the sensor which meets desired specification is difficult even using the optical simulator. Thus we proposed the simulator-supported method for effective element placement using Genetic Algorithm, and attempted to improve the sensor output characteristic over applying this method to the sensor design. In this article, we applied this method to the fingertip sensor which has unidirectional curvature, and confirmed the effect.

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This paper presents a mounting technique for experiencing sensory sensation to prosthetic hand with which patients lost the extremities by disturbances will be able to replace the extremities and feel somatic sensation as if they were touching an object with their healthy hand. The system consists of myoelectric prosthetic hand by surface electromyography signal and flexible pressure sensors which cover the finger of prosthetic hand and micro-electrical stimulation of the sensory nerve fibers was used in order to evoke somatic sensations. The results show that the system worked satisfactorily, and it is demonstrated that the system will be able to compensate sensory function of the patients with sensory neuropathy and have possibilities for replace the extremities

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Pseudo-haptic feedback is one of the most practical methods for presenting haptic cues without haptic device, in which visual stimuli accompanied with the user's motion generate illusory haptic sensation. The temporal response of the sensation is relatively slow, typically expressed as mass or viscosity. On the other hand, high frequency component of tactile sensation, i.e. vibrotactile feedback is also an important factor of haptic perception, which is quite difficult to present using pseudo-haptic feedback. In this paper, we propose to integrate vibrotactile feedback with pseudo-haptic feedback, so that it could strengthen the perception of pseudo-haptic effects. We demonstrated that the perception of the geometric relief was improved by the integration.

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