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It is known that human can feel the vibratory envelope on periodic sinusoidal vibrations; however, the role of the envelope on non-periodic transient vibrations is still not clear. This study investigated Just Noticeable Difference (JND) of the time constant in the decaying sinusoidal vibration model, which is one reasonable factor relating to discrimination of tapped materials. The authors conducted...
We propose a vibrotactile rendering method for the motion of a camera in first-person view videos that enables people to feel the movement of the camera with both hands. Concretely, we consider an arrangement of two vibrotactile actuators to render panning movements on the horizontal axis as vibrations that move from hand to hand, and to represent sudden vertical displacements of the camera as transient...
Unnoticed collisions compromise the success of remote exploratory tasks with mobile robots. We propose a vibrotactile stimulation method to represent frontal collisions that is based on the way people perceive impacts on a bar held with both hands. We observed that to estimate the impact point in a bimanual impact localization task people relied on amplitude and duration differences of the impact...
Disaster response robots for searching in a narrow area have limited space to mount tactile sensors, but the operators require sensory feedback to recognize contact situations with the surrounding environment. This study proposes a new approach to transmitting contact information of a remote-operated snake-like robot called Active Scope Camera (ASC) to the operator using simple configurations for...
Remote robotic explorations for collapsed buildings in a severe disaster are demanded. However, rescue robots cannot approach the rubble due to safety risks. This study proposes a remote vertical exploration system for collapsed buildings with a robotic inspection system hoisted by a crane. An Active Scope Camera (ASC) has many advantages for the vertical exploration such as a light and flexible continuum...
A novel gait phase detection method that can extract the timing of foot contact conditions (Heel Strike and Toe Off) by a single piezo film sensor attached on each leg is proposed. We focused on the occurrence of high-frequency vibrations (> 100 Hz) in the beginning and the end of stance phases during gait. After the features of vibration waveforms during gait were confirmed, we proposed the phase...
Previous surface shape presenting methods had difficulties in generating high-density tactile information owing to blurriness in tactile images caused by lateral skin deformations. In this study, a new surface shape presenting method is proposed, and it employs overlapping small-amplitude vibrations instead of a single vibration. This method represents the mechanism of stationary boundary contacts...
An active scope camera (ASC) is a special type of videoscope for search and rescue operations; the ASC has a self-propelled mechanism with a ciliary vibration drive. From an analysis of the problems encountered with the conventional ASC during applications to practical disaster environments, we propose a new tube-type ASC with enhanced mobility and practical functionality for rescue activities. We...
Active Scope Camera (ASC) using a linear inchworm drive, which can run on various road surfaces assumed in disaster sites, have been developed as a snake-like rescue robot. However, it is difficult for the linear inchworm drive to run in crooked narrow pathways, because its rigid body actuator reduces the flexibility of the scope camera and becomes immovable when the scope camera is curved. There...
Tactile sensations experienced by humans, such as roughness and softness, require not only high-frequency (200 Hz) but also lower-frequency vibrations (< 50 Hz). However, such low frequencies are difficult to achieve with small actuators that can be integrated into mobile devices. Therefore, it is necessary to develop methods for enhancing human vibrotactile sensitivity. We focused on a phenomenon...
This paper evaluates performance of an inchworm drive with frictional anisotropy and a ciliary vibration drive for an active scope camera, which is a snake-like rescue robot used at disaster sites. The previous type of the active scope camera is equipped with a ciliary vibration drive and can travel in rubble. However, it has been found that the vibration drive is not effective on soft or uneven roads...
An experimental study was done to examine the relationship between vibrotactile amplitude displacement and softness sensation. Merkel Disk behavior relative to softness sensation was studied under psychophysical experimentation of human participants. Restrictions are carefully applied on contact area spreading so that vibration will be the only factor that would induce a sensation. A vibrotactile...
Humans can change their grasping force before the grasped object unconsciously slips off their fingers. This reflex is called the grasping force control reflex. This paper describes the methods used to induce reflective grasping force control and presents the observed results. To clarify the stimulus conditions needed to induce reflective grasping force control, we developed an observation device...
Remote transmission of high quality sense of touch requires the representation of multiple tactile properties and compensation of communication delay. We developed a real-time remote transmission system that can deliver multiple tactile properties using a master-slave robot system. First, we assessed what type of tactile properties should be transmitted and how to connect them in real time. Three...
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