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We have developed a tactile sensor for tactile tele-presentation systems by focusing on four features of the human finger considered to play an important role in texture perception; the existence of nails and bone, the multilayer structure of soft tissue, the distribution of mechanoreceptors, and the deployment of epidermal ridges. As a result, the developed sensor could detect roughness, softness...
In this study, a tactile-roughness transmission system applicable to master-slave systems with a communication time delay is developed. The master-side system constructs a local model of target objects placed in the slave-side environment. Tactile feedbacks presented to an operator at the master side are produced by combining the physical properties of target objects in the local model and the kinetic...
This paper presents a hybrid tactile displaying method of realistic texture using ultrasonic vibrator and force display. The aim of this study is to display various realistic tactile senses by controlling multiple factors including roughness, softness and friction sense. First, a tactile displaying system was configured for displaying roughness, softness and friction sense simultaneously by compensating...
A small tactile display that can be attached to a mobile terminal device or a handheld game controller will enhance user experience in virtual worlds. This paper proposes an ultrasonic vibrator which has a compact mechanism to produce vibratory stimulation on human skin using a pin array driven by a single piezoelectric actuator. Amplitude modulations of the ultrasonic vibration can generate tactile...
Tactile telepresence has been expected to be technology which encourages operators of robotic systems to remotely maneuver objects or recognize materials being touched through robotic arms. In remote environments, temporal disparity in tactile sensations is caused by temporal latency between a touch motion of the operator and a tactile stimulus applied on him. A framework of tactile telepresence systems,...
This paper discusses a novel development in estimating the feature of hard lump embedded within a soft tissue with the tactile sensor emulating the major features of a human finger. The aim of this study is to realize precise and quantitative tactile sensing, especially of the stiffness. Since pathology detection is related to tissue stiffness, stiffness measurement would be of great use to provide...
In the present study, tactile display of surface texture by use of amplitude modulation of ultrasonic vibration is developed. First, systems are constructed to display artificial tactile sensation using ultrasonic vibrator. Then, sensory evaluation experiments are conducted to confirm that output stimulations in response to hand velocity is effective to realize an artificial tactile sensation. Next,...
To realize a telepresence system with tactile feedback and force feedback, real-time estimation of various tactile sensation must be conducted. Because several types of tactile sensation consist in touch and human tactile feeling has high time resolution. A man feels active touch extraordinary with time delayed transmission of tactile information. Our proposing human finger mimetic sensor covers three...
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