This paper presents fabrication and actuation method of soft microrobot having hybrid structure. This hybrid structure enables multi-DOF actuation of the microrobot and complex movement like living microorganisms. In this paper, we show the concept of soft microrobot having soft-rigid hybrid structure and propose a fabrication and an actuation method of the robot. We use temperature responsive hydrogel, PNIPAAm as a soft microactuator. PNIPAAm swells water at low temperature and shrinks at high temperature. Thus, this volume change can be utilized as actuator by controlling the temperature. We succeeded in fabrication of the microrobot having soft-rigid hybrid structure using sacrificial layer process. For actuation of the microrobot, we mix PNIPAAm with graphene which has high photothermal conversion efficiency. We show the fabrication, release and partial actuation of the microrobot to show feasibility of the proposed microrobot having soft-rigid hybrid structure, in this paper.

Previously, our research group developed a view expansion microscope based on the viewpoint movement using a galvanomirror. The previous view expansion microscope had a problem of the focal blur due to the change in the optical path length. In this paper, we develop a novel view expansion microscope using ana electrically tunable lens (ETL) and a galvanomirror. The focal blur of the view expansion microscope is improved by adjusting working distance using the ETL, and verify the effectiveness of the proposed system through observation experiment of the micro grid film.

This paper proposes the analytical results of frequency modulated force measurement in microfluidic chip to characterize the single cell with their mechanical properties. Like the configuration of atomic force microscopy, we have developed the microfluidic devices having mechanical force probe to perform the mechanical characterization of single cell with high throughput. Contrary to the previously reported devices, we considered the dynamically oscillating force sensor alternative to the one using static deflection of the microbeam structures. Since the method utilizes the amplitude and frequency shift independently, both the conservative and the dissipative force are obtained at the same time. The main topic of this report is to consider the measurement accuracy and throughput. Our previous research enables the high speed actuation mechanism of on-chip force probe, the displacement sensor with high measurement speed. On the other hand, the theoretical background on the dynamic cell characterization was not definitely explained and examined. Therefore, we derived the theoretical requirements. As a result, we found that the noise level of the laser displacement sensor should be further improved for the practical use of single cell characterization. This analysis should be the fundamental for the upcoming cell characterization devices.

Our photochemical cell membrane perforation method is new approach for mass cell processing, eg. cell therapy or regenerative medicine. It is speedy on dish instant process but to reduce the cost for cell therapy, it is better to handle the cells without special treatment on plastic dishes and avoid long time cell culture. So we are trying to establish a new cell processing system, designed for cell suspension and the suspension is handled within a medical bag like package, so the cell membrane perforation process becomes easy handling and can reduce a risk of contamination.

In this paper, we propose the manipulation and cell injection of the fluorescence microsensor using multiple wavelength lights. The sensor made of 1 μm polystyrene particle containing Rhodamine B and infrared (IR: 808 nm) absorbing dye. The polystyrene particle can be manipulated by 1064 nm in water since the refractive index of the polystyrene is 1.6 (refractive index of water: 1.3). Rhodamine B is temperature sensitive fluorescence dye (emission wavelength: 560 nm). IR absorbing dye absorbs 808 nm light but don’t absorb 1064 nm laser. Transport of the fluorescence microsensor with optical tweezers by 1064 nm laser. After transport to the membrane of target cell, the fluorescence microsensor is heated by 808 nm and injected into the cell. Temperature increase at 808 nm (40 mW) illumination was approximately 27℃ for 60 seconds. We demonstrate manipulation and injection of the microsensor to the MDCK cell using wavelength-specific laser heating. From these results, we confirmed the effectiveness of our proposed method using multiple wavelength lights.

In this paper, we proposed a micro size wireless force sensor which was used fluorescence resonance energy transfer (FRET) function expressed cells. In order to develop the force sensor, a microstructure which could transfer external force to expressed cells was designed. The micro structure which was made of Poly(dimethylsiloxane) was assembled by the photolithography method. A mold of the micro structure was made by the dry etching. The scale and mechanical property of the assembled micro structure was evaluated by a laser microscope and a force transducer. Then, it was confirmed that the scale and the mechanical property of the assembled micro structure were closed to that of computer simulation model.

The ‘eSEAT component’ was originally developed as a dialogue control component based on a finite state machine with RT-Middleware. A behavior of this component will be defined by a simple rule file called ‘SEATML’ and support several communication middleware such as RTM, ROS, ROS2, HTTP and a normal raw socket port. In this paper, I introduce an overview of the eSEAT and discuss about a collaborative function between RT-Component and ROS Node by using the eSEAT component. By using such functions, it could be expected to realize an efficient system integration with software modules implemented in different frameworks or middleware.

In this research we develop an extension to connect the visual programming language Scratch with ROS enabled robots, allowing rapid development and prototyping of front-end interfaces intended for robot programming at a WYSIWYG manner. This is a powerful tool for making use of human annotation in higher level reasoning and workflow design for real world task execution and custom optimization. Leaving the algorithm design to the end users is a practical and reliable form for successful task execution, and the use of visual programming interfaces is crucial for this to be an inclusive solution with almost no previous knowledge requirements. The developed extension allows easy implementation and prototyping of such interfaces by making use of both the pre-build Scratch system and communication through ROS.

MQTT is a very simple messaging protocol. This causes messaging systems to get high performance and low power consumption, and therefore MQTT protocol is suitable to construct IoT/IoR systems. However, the messaging performance is not only objective for IoT/IoR systems. In some cases, the quality of messaging service is more important than the messaging performance for some systems including mission critical process. On the other hand, AMQP messaging protocol just fits to construct highly-reliable systems. In this study, we focused on the advantage of AMQP and developed a new communication interface using AMQP on data port communication of OpenRTM-aist. The proposed communication interface enables developers to easily construct highly-reliable robot systems on RT middleware.

The service industry has high expectations for the inclusion of robotics in business. To this end, we have performed research and development into creating a platform for robot technology in the service industry. In this project, we have developed an API allowing for painless development of service robot applications. We confirmed the effectiveness of adopting this API into the development of service robot applications via an experiment in which a service robot works in a restaurant. In this paper, we outline the API and the contents of the experiment.

We call block type 3D printing “Block Printing.” Block printing has some advantages compared to laminated 3D printing. It can easily assemble a product composed of multiple materials. Additionally, a product made by blocks can be easily disassembled into blocks, which can be used for another block model. We developed a block printing system for automatic block assembly in our previous study. This system, however, was implemented for a specific robot. In this paper, we describe a new block printing system with higher compatibility with various robots. We attach importance to hardware-independence and motion planning. In order to realize them, we introduce ROS and MoveIt! into the new block printing system. We verify the system by assembly experiments and simulations.

Recently, robots are expected to work instead of human workers. However, to develop a practical service robot system, it takes a long time and expert knowledge. Therefore, reuse of software resources are impportant. Although evaluation methods are important, the general methods have not been proposed. In this paper, in order to improve reusability and effectiveness of developed software modules, we propose software module analysis method based on SysML diagram. Through the preliminary experiment, we confirm the scope of proposed methods.

In this paper, we clarify the problem in the case of using the A* algorithm when introducing a mobile robot in the real environment. Then, we discuss the global pass planning using graph theory to solve the problem and the method of implementing it in the ROS Navigation.

The significance of web technologies in robotics field is growing more and more in these days such as AWS RoboMaker released in November 2018 as a typical example. This paper proposes a data sharing system for mobile robots and describes the importance of sharing data which comes from mobile robots’ sensors. Also, the paper provides the first implementation of the data sharing platform sharing ROS topics with location-based tags. There are some services which are utilized web technologies in robotics field nowadays. However, no services of them are released for sharing the data as open data. Therefore, this research validates availability for sharing the data from robots by web services such as AWS.

We utilize RT middleware as the software to control the mobile robot. When operating the mobile robot, there will arise various connection and activate processing in RT component. And the number of command execution in RTshell becomes many and which leads longer processing duration and operability lowering. We have adopted, consequently, the method to minimize the number of condition obtaining in system so as to shorten the processing duration and improve operability.

In system construction of robots, PCs are often used for advanced information processing. However, the PC has high cost, high failure rate, placement problem, etc. In this paper, we respond to these problems by linking robot middleware with server side. By incorporating the OS container and orchestration technology used for the robot system, we construct a robot system that realizes high availability.

The platform is a key concept proposed by the NEDO project named “Technology Development Project for Robot Commercialization Applications”. It is an attempt to make an enormous technology source opened to utilize, modify and re-distribute. According to this concept, the 3D vision platform is developed for the use of various robot applications. This platform consists of the high precision compact 3D stereo cameras and its surrounding software running on ROS. This paper introduces the feature of this platform and as its example of use, shows the random picking application.

The R&D project “Technology Development Project for Robot Commercialization Applications” is conducting R & D to introduce robots into unused areas. Although robot is expected to be utilized in the such as manufacturing field including "Sanpin-Sangyou (food, medicine, cosmetics) due to issues such as technology and price etc., it is difficult to introduce there. The project is aiming to promote the introduction by introducing robot hardware and software platform into tasks and fields that have not yet been introduced. In this paper, we will introduce current activities and results of this R&D project so far.

In measuring something of living things, it’s important that we measure the natural state. We measure the cells by a micro single-sided transient hot rectangle (μ-STHR) method. The μ-STHR method is a minimally invasive probe applying a high-speed heat pulse. We manufactured the MEMS sensor with biocompatibility and high sensitivity in this method, because the higher the sensitivity of the sensor is, the more opportunity we can discovery the new things in. Therefore, we selected Au as the material of the electrode of the sensor. And, we manufactured the sensor and measured water and cells to check the ability. The results indicated that we succeeded in manufacturing MEMS sensor with biocompatibility and high sensitivity in μ-STHR method.

In this paper, we propose the fiber type actuator using the artificial muscle, it self-organizes by molecular motor when UV-ray irradiate, and attempted to fabricate and evaluate the parts that the actuator need to be fabricated bioactuator. Molecular motor is the actuator that move using chemical energy in the molecular level. Using it, we aim to fabricate the fiber type actuator that does not need electricity directly and is thinner than active catheters developed until now. One of parts we need in order to fabricate the actuator is a central connected multi-lumen structure tube. We made the tube using gelatin and PDMS and evaluate it.

One of the important tasks of research in the field of regenerative medicine is to construct three-dimensional cellular tissues including vascular structures in vitro. In this research, we propose a method to form a tube structure that can supply nutrients and oxygen using magnetic fiber and magnet tweezers for three dimensional culture of hepatocytes with gel as a scaffold. Magnetic fiber was placed on the plane, magnetism was generated in the magnet tweeter, and the fiber was automatically guided to the desired shape, and the gel as the scaffold of the cell was poured and solidified. After repeating this operation, the hepatic lobule-like three-dimensional structure having a tubular structure was constructed by removing the fiber.

In recent manufacturing, product models are often generated on computers, and products are manufactured on based on that. But the conventional skin model was ideal, which is different from the actual product features. Therefore, there was a limit in improving the quality of the product. In order to improve the quality of products, it’s necessary to generate a new skin model that has features similar to actual products. In this research, a new skin model generation method was proposed. For this method, we used a technique called stitching that can connect data of different scale levels. In addition, wavelet decomposition was used for extracting features of the model. As a result of using wavelet decomposition, stitching was successful at each wavelet level.

In this paper, we consider to transport a liquid container by a cart installed an active vibration reducer having a parallel linkage mechanism with six degrees of freedom. Sloshing in the liquid container is generated by the movement of the cart running on uneven road. To damp the sloshing, the liquid container tilts and horizontally moves by using the active vibration reducer. Damping control system consists of both disturbance suppression control and frequency-dependent optimal servo. The weighting matrix for the frequency-dependent optimal servo is determined using a genetic algorithm. The usefulness of the proposed control system is verified through experiment.

In the field of regenerative medicine, cell processing is currently done manually. The process is labor intensive and expensive, and its efficiency must be improved. Automatic cell culture apparatuses equipped with a vertical articulated robot have been proposed recently. However, automating all tasks of cell processing complicates the system constitution. The present study aims to develop a simple and rational cell processing system by combining the tasks performed by a robot with those performed by a human. In a previous paper, we examine the efficiency improvement of the task of injecting culture media by using a robot. In the present paper, we propose an algorithm for variable injecting volume and conduct a verification experiment.

In the harvest work, a water tank is used to put harvested flowers in and keep them flesh. Recently the AGV(Automated Guided Vehicle) which carries the tank and follows the harvest worker has been developed. However, harvest work is done on unpaved road and the worker’s speed changes in various ways. Because of these causes, liquid surface vibration occurs in the tank and it causes spilling. To deal with real-time speed and disturbances which occur from obstacles and inclinations, tilting action to eliminate the vibration quickly is needed.This paper describes a method to estimate the vibration using the BEM(Boundary Element Method) and vibration control simulation of tilting action.

In this paper, we propose visual inspection systems that detect defective products with minute defects seen in the production process of resin molded articles. Firstly, an application of 15-layered CNN is developed for visual inspection and is trained using a large number of images to perform effective generalization. Then, the trained CNN named sssNet is incorporated with a two-class learning based SVM to classify test images with high recognition rate into accept as OK category or reject as NG category, in which compressed feature vectors obtained from the CNN is used as the inputs for the SVM. Finally, the CNN and the SVM are compared and evaluated through classification experiments. It has been confirmed that the SVM has a higher classification ability than the CNN.

Carbon fiber reinforced plastics (CFRP) is one of the materials that has attracted attention in recent years due to its light weight and high strength. However, since CFRP processing is difficult, processing has been carried out manually by a technician. Therefore, high cost due to processing time and labor cost, variation in quality is a problem. Parts handled especially in the automobile industry are small in size and complex in shape, so it is difficult to stick the carbon tape vertically to a curved surface with a certain pressure. This is one factor that robotic automation does not progress. Therefore, in this research, we develop a robot which sticks carbon tape to 3 dimensional curved surface using pneumatic actuators, and try to solve this problem. In the future, we will realize cost reduction of CFRP processing and aim at operation not only in the automobile industry but also in various industries.

In the manufacturing industry, automation of visual inspection has been achieved with many objects, but there are objects that are difficult to inspect at real cost. For example, in metal precision machined parts, coolant is used during machining, so the target surface is covered with liquid film. Therefore, two extra steps are required. That is, removing the liquid film immediately before the test and covering again with the liquid film immediately after the inspection. Moreover, it is difficult to conduct a uniform automatic inspection for minute scratches on a curved surface. In this research, we examined image inspection methods for precisely detecting minute defects on the glossy surface without completely removing the liquid film by cleaning, for piston pins which are precision metal processed parts. As the results of image processing experiments, all defective parts were detected.

The feed drive system using a linear motor has focus as the device that realize to realize high-speed operation for machine tools. In this study, the feed drive system using the linear motor was driven by trapezoidal, S-curve and preshaping acceleration/ deceleration exceeding 1 G, the acceleration method is evaluated by comparing the deviation, the maximum speed, and the maximum acceleration at that time.

This paper discusses a training system to acquire operational skills of an overhead traveling crane. Cranes are frequently used in various fields. Skilled workers are required for operating safely and efficiently the crane. However, acquiring the operational skills spends a lot of time. The training system that the trainee can learn safely and efficiently operational skills of suppressing load sway and positioning using overhead traveling crane simulator is developed in this study. The teaching information and the score board for learning the operational skills of suppressing the load sway and positioning are displayed in the crane simulator. The displayed teaching information is proposed by the theoretical analysis of the behavior of the overhead traveling crane. The efficacy of the proposed operational training system was verified the experiments with subjects.

This paper describes conveyance planning problem of a conveyance machine that consists of some conveyor belts mounted in a line. The aim of this machine is to convey objects that comes into the front part of the line in irregular pitch to the rear part in a constant velocity and pitch under the lowering of frictional force of the conveyor belts. The problem can be formulated as a linear programming (LP) and each optimum conveyance velocities can be derived taking into account the current maximum frictional forces of the conveyor belts. We show that the conveyance performance can be analyzed, and the conveyance works effectively by some simulation and experimental results.

The purpose of this study is automated sorting of lentinula edodes. This study focus on the fluctuation of lentinula edodes by vibration to manipulate the direction of lentinula edodes. Vibration generator developed to apparently vibration conditions flips the lentinula edodes and rocking motion that occurs when. Vibration experiment produced conducted vibration tests three times. First experiments with the three states do not cut the length of the lentinula edode stems, excised half state, the only umbrella, experiments were carried out. The second experiment, increase the vibration experiment of period and amplitude conditions and experiments were carried out. Third test, focusing on the behavior of vibration after the experiments were carried out. We can easily flip lentinula edodes experiments with higher energy vibration.

Underwater SfM (Structure from Motion) using moving shot images on meandering courses has evaluated. SfM extracts the position information of the feature point of the target from the multidirectional underwater photos and make three dimensional restoration data. In this study, the vision of fish swimming while meandering path was set as a clue to investigate whether it is possible to restore efficiently with few images. In this article, firstly, characteristic of restoration using moving shots with meandering course has investigated in a building. Then underwater test using a simple ROV has tried. As the evaluation method of experiment, aspect ratios of target materials on the ortho images have compared with the aspect ratio of SfM outputs.

At present, the mainstream Simultaneous Localization and Mapping(SLAM) system is mainly suitable for static scenes. However, in real life, dynamic objects in an unknown environment limit the application of the SLAM system. Using the traditional SLAM scheme, if the moving object exists in the sensor field of view, the constructed 3D point cloud map leaves the point cloud of the moving target multiple times, and affects the accuracy of the visual odometry(VO) and closure loop detection. This paper proposes a scheme for SLAM in dynamic environment that can be used to identify dynamic objects and remove its point clouds. The robustness of the system in dynamic environment is verified by the outliers of feature points matching and the point cloud map.

This research aims to develop a high-speed spatial change detection technique using point clouds and NDT (Normal Distributions Transform). Three techniques are introduced to make the proposed system robust for noise, that is, classification of point distribution, overlapping of voxels, and voting using consecutive sensing. This paper describes the results of performance verification of spatial change detection in indoor and outdoor environments.

Nowadays, industrial robot manipulator plays a key role in the industry. However, the manipulator will produce kinematic errors during operation. Traditional methods require expensive equipment with complex steps to calibrate kinematic parameters. In order to employ an efficient way to accomplish kinematic calibration and offer convenience to plan the motions of the manipulator, a new method is considered. The method is called SKCLAM (Simultaneous Kinematic Calibration, Localization, and Mapping), which can simultaneously calibrate the kinematic parameters of an industrial manipulator and reconstruct the 3D environment of its surroundings using an RGB-D camera attached to its end effector. In this paper, the true kinematic parameters were changed randomly to test and evaluate the robustness of our approach in virtual environments.

In recent years, the performance of autonomous mobile robots including small unmanned aerial vehicles (UAV) and the like has dramatically improved. For that reason, various environmental recognition technologies for autonomous mobile robots and others to recognize and act on the outside world have been studied. Therefore, environment recognition by only an image sensor which is inexpensive, lightweight and has a large amount of information has attracted attention. In this paper, we propose a system to recognize environment of flight path using only images obtained from stereo cameras attached to UAV, and propose an algorithm to generate three-dimensional (3D) map of flight path. As a result, it is possible to perform 3D map construction indoors or outdoors only with stereo images acquired from the stereo camera system mounted on UAV.

Generated sources of object information (temperature, sound, smell, moisture ...) position have identified by humans sense of sight and touch etc... . However, human and robot actively move sensors and cameras to predict the source of object information can not be perceived by humans, such as dark places, or in places far away from themselves. In this paper, we proposed a rotating composite sensor. Acquire other information accompanying the distance at the same time. It can generate a short distance multilayer map. Multiple sensors can rotate 360° by a motor so that object information can be acquired in three dimensions instead of a point. It is thought that it is possible to visualize and identify the source of information. As an experimental result, it became possible to generate a mapping of temperature information accompanying the distance by the proposal device.

Clouds are often observed in our lives, and the relationship between the human and clouds is deep. For example, measurement of clouds are important to forecast weather and to know the visits of sudden weather changes such as torrential rain. In this paper, we propose a methodology to measure clouds easily. Especially, a simulator to generate clouds in a three-dimensional space is constructed, and a filtering method for extraction of clouds from the measured data by removing erroneous corresponding points is proposed. In an experiment, the proposed method is validated by using the cloud simulator.

Acquisition of the 3-D environmental map via a cloud system is an important topic to operate multiple robots under the environment because the existing map can be shared for self-location of the robot, route planning and detection of obstacles without creating a new map. We have developed the system loaded on the movable robot to acquire the 3-D environmental restoring data that can be incorporated into the cloud system. The system consists of Velodyne VLP-16 LIDAR and ZED stereo camera, and they were loaded on the wagon and the small rover; Turtlebot2. Then, we have considered the framework of the database in the cloud system. All data are linked with timestamp and categorized into type of robot and the environment. The addition of meta data such as information about the sensor type and the attachment position is also important to identify the environment by the robot.

The method attaching a color 2D code to an object which it is difficult to find features even by using color and point cloud data with CSHOT descriptor is proposed. If the object composed of simple planes, there are no remarkable characteristic on the SHOT descriptor. Furthermore, there are products that have different characteristic color information even though they are the same product like food packages. The proposed method is powerful tool to find such kind of objects.

In recent years, many attempts have been made to automate cattle management using IT technology. To automate the management of cattle population, it is necessary to label each cow individually for captured data, but it is difficult to use the ear tags which is major method in Japan and QR code. In this study, individual identification is carried out using white-and-black patterns unique to Holstein cows, and clustering of three-dimensional point cloud data for each individual. We converted the three-dimensional point cloud data into a two-dimensional image representing only the pattern, and clustered by sequential method, resulting in high accuracy. The experimental results demonstrate the possibility of individual identification using white-and-black patterns.

Recently, many products combining not only function but also sensibility such as appearance and tactile sensation are made. That tendency is the same for hand washing faucets, and the tactile sensation is important for the hand washing faucets. Tactile sensation of water flow is composed of multiple stimuli. In this paper, we reproduced these stimuli by multiple devices and developed a haptic display that can present tactile sensation of water flow to one’s hand. Moreover, artificial tactile sensation of multiple forms of water flow, that reproduced by adjusting value of each device’s parameter, generated by the haptic display were evaluated by subjective evaluation.

A four degrees of freedom wearable force feedback device with pneumatic artificial muscles and magnetorheological fluid clutches have been developed. The device has four degrees of freedom at shoulder and elbow. By arranging artificial muscles and magnetorheological fluid clutches at each joint, the device can render elasticity using characteristic of artificial muscle, friction, and viscosity by controlling torque of magnetorheological fluid clutch. We have already confirmed that the device render elasticity and friction. However, we have not confirmed whether the device can render viscosity yet. In this paper, we derived an equation for rendering viscosity, and conducted an experiment based on the equation.

In recent years, it is required to acquire three-dimensional information at high speed in various fields. In our laboratory, we proposed a structured light field as a fast three dimensional measurement method. In the structured light field method, distance information can be obtained at high speed in principle by using a projection system in which the pattern of the projected stripe changes according to the distance. Thus, the distance information can be derived from the projected pattern. By using two parallel projectors, it is possible to acquire three-dimensional information with higher precision than the previously proposed method. The effectiveness of the proposed method is confirmed from the projection experiment by the laser projector on the dynamic projection target.

The authors have been proposing a system which can judge whether a user made a medicine-taking behavior in order to support his/her medication management. As a component of the system, the authors developed a point cloud processing technique to estimate the degree that a user open the mouth. In this work, a 3D point cloud model to detect the user’s nose in a point cloud was improved.

This paper presents a novel range image sensor system that uses multi slit laser and small camera. In case of the active stereo method, since the captured image is blurred, it is impossible to determine an accurate position of the slit. On the other hand, the proposed method is able to perform short distance measurement using the magnitude of the blur of the laser light.

Robot systems capable of experiencing remote environments are urgently required for future lack of manpower and aging society. In this study, development of the tele-existence robot arm in which human beings can experience not only the haptic environment but also the thermal environment was targeted. In this report, first, a tele-haptics robot arm system, driven by torque control, was introduced. Silicon rubber is used for the fingers of the robot arm because its thermal conductivity is close to that of human skin. In order to investigate the temperature rise caused by contact with a heating body, thermocouples were embedded at the depths of 0.3, 0.6 and 0.9 mm of the silicone rubber finger tips. Temperature measurement was carried out when a high temperature aluminum cylinder of 60 deg.C was touched with a heavy force of 7.8 N and a light force of 0.86 N. The results was compared with numerical simulated results.

In this study, we aim to present various skin condition with haptic display. We record the acceleration when a finger swipes on the skin, and replay it as vibration. The replaying part is composed of an artificial skin, two audio speakers to vibrate the skin horizontally, and a motion capture system to monitor finger motion. Our idea is that we assure basic feeling of skin, such as softness and smoothness, by using artificial skin, and add vibration to express roughness of the skin.

We have developed a large printable electrostatic tactile display with electrostatic tactile and paper electronics technology. In this display, it is possible to impart tactile sensation only to a specific part of a symbol by printing color ink for a symbol on the electrode. As a feature, since it is a paper medium, it is easily be enlarged at low cost. In addition it can be rolled down, minimalized and easily carried. In this poster, the thickness of the insulation layer due to color ink for a symbol has a great influence on perceived intensity. Therefore, we investigated the relationship between insulation layer thickness and perceived intensity. As a result, it was found that it is possible to differentiate the perceived intensity depending on the presence or absence of color ink and to provide a uniform haptic sense independent of the ink amount.