A multi-DOF haptic representation using suction pressure stimuli on finger pads

Daiki Maemori, Lope Ben Porquis, Masashi Konyo, Satoshi Tadokoro

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

Humans can perceive external forces applied on a grasping tool based on skin pressure distribution at multiple contact areas during grasp. The authors have tried to represent external forces and torques by controlling the skin pressure distributions using suction stimuli and confirmed the potential but in a heuristic manner. In this paper, we investigate an improved method of skin stimulation based on a combination of psychophysical experiments and mechanical simulation. We focus on a simplification method of the complex strain energy density (SED) distribution at the contact areas with four quadrant values (SED index). The relationship between suction pressure and SED index was achieved by connecting the experiment and the mechanical simulation. We confirmed that a suitable SED index could represent the magnitudes of forces in multiple directions with a linear function. Experimental results also showed that the proposed method could represent arbitrary directions between pairs of the orthogonal axes.

本文言語English
ホスト出版物のタイトルHaptics
ホスト出版物のサブタイトルNeuroscience, Devices, Modeling, and Applications - 9th International Conference, EuroHaptics 2014, Proceedings
編集者Malika Auvray, Christian Duriez, Christian Duriez, Malika Auvray
出版社Springer-Verlag
ページ285-294
ページ数10
ISBN(電子版)9783662441954
DOI
出版ステータスPublished - 2014 1月 1
イベント9th International Conference on Haptics: Neuroscience, Devices, Modeling, and Applications, EuroHaptics 2014 - Versailles, France
継続期間: 2014 6月 242014 6月 26

出版物シリーズ

名前Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
8619
ISSN(印刷版)0302-9743
ISSN(電子版)1611-3349

Other

Other9th International Conference on Haptics: Neuroscience, Devices, Modeling, and Applications, EuroHaptics 2014
国/地域France
CityVersailles
Period14/6/2414/6/26

ASJC Scopus subject areas

  • 理論的コンピュータサイエンス
  • コンピュータ サイエンス(全般)

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