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Perception of minute force direction through tactile sensations during tool manipulation is an important factor for humans in skill acquisition. Different pressure levels on finger contacts could be responsible factors pertaining to the perception of force direction. In this paper, an experimental study was done to verify if pressure stimulation pattern applied to the thumb and fingers on a gripping...
This paper presents the evaluation results for conventional methods that can be used for vision-based localization. An Active Scope Camera is a very thin snake robot and can be used as a rescue robot for search and rescue missions. Self-position estimation of the Active Scope Camera is important for efficient search. Nevertheless, using sensors for this purpose hinders the movement and maneuvering...
The tactile display for handheld devices requires compact hardware and useful applications. To satisfy these points, we have proposed the concept of `virtual active touch' that implements virtual exploration with a cursor on a screen through a pointing-stick-type tactile interface. The objective of this study is to present three-dimensional shapes on a two-dimensional screen without force feedback...
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...
Today there are many tactile sensors in the world. Though there is few sensor whose characteristics are similar to cutaneous sensation of human. If we want to measure the tactile information of human we have to use human-like tactile sensor. Here we have developed a reflection-type tactile sensor by using imaging device. This sensor employs a simple total reflection characteristic, so it has many...
Haptic interaction with handheld devices is limited by space and size constraints that inhibit free hand exploration. We developed a compact haptic interface called Vib-Touch, which is operated by fingertip via a pointing-stick input device containing a tactile feedback. A cursor on the screen could perform virtual exploration as a substitute for the finger movement. We call this technology virtual...
We propose a new framework for a self-propelled flexible cable in which the freedom of lateral motion with sliding movements is increased on the basis of simple shape information.We developed a large-scale prototype of the flexible cable that has a ciliary drive mechanism and precise shape sensors to investigate our concept.We developed a kinetic model for the prototype by employing the nonlinear...
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...
For realizing a tactile display for a handheld device, active touch movement should be represented on a small interface. We propose the addition of a tactile feedback mechanism for a pointing-stick-type (PS) input device. In this study, we describe a method for enabling virtual active touch with a cursor on the screen operated by the PS-type tactile interface without actual touch movement. First,...
This study estimated the maximum allowable system latency for haptic displays that produce tactile stimuli in response to the hand movements of users. In Experiment 1, two types of detection thresholds were estimated for the time delay of stimuli through psychophysical experiments involving 13 participants. One was a threshold for the users to notice the existence of a time delay. The other was a...
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...
A tracked mobile robot has high mobility and stability to get over rough terrain by changing its form according to environments. However, it is hard for an operator to control the mechanism skillfully by remote control. One of the solutions of the problem is an implementation of an autonomous control system. A detection of distributed contact points between the crawlers and an environment enable the...
Tactile display is a technology that gives an artificial sense of touch to operators of information terminals or master-slave systems. The generation of tactile stimuli in response to the hand movements of the operators is associated with active touch and is considered to be one of the effective display methods, however which inevitably causes delayed tactile feedbacks from tactile displays. The knowledge...
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,...
A practical active scope camera for urban search and rescue is developed using ciliary vibration drive mechanism. Optimization of design parameters such as material, a diameter, density and an inclination angle of cilia, and specifications and density of vibration motors is performed on the basis of experimental evaluation of test pieces and prototypes with changing surface materials. A prototype...
Proposed new actuation mechanism realizes active or semi-active mobility for flexible long cables such as fiberscopes and scope cameras. A ciliary vibration mechanism was developed using flexible ciliary tapes that can be attached easily to existing cables. Driving characteristics of the active cables were confirmed through experiments and numerical analyses. Finally, the actuation mechanism was applied...
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...
A tracked wheel i.e. a crawler is one of suitable movement mechanisms to traverse extreme environments without getting stuck on obstacles. For improving their mobility, tactile sensing of the contact surface of the tracked wheel will help the motion control efficiently by detecting slips and stumbles. This research proposes a useful distributed tactile sensing system for the tracked wheel. To apply...
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