オンラインチャットは,現在最も広く利用されているネットワーク上でのコミュニケーション手段 の一つである。しかし,そこでは基本的に文字情報しかやり取りできないため,非言語情報が欠落 してしまう。この結果,同じ文であっても,その発話者がどんな心境や状況でその発話をしたのか が不明瞭となってしまう。そこで本研究では,オンラインチャットで必ず行われ,かつもっとも自 然な行為である「打鍵」に着目する。チャットで自然に行われるこのような打鍵行為によって生 じる物理的作用である振動を対話相手に伝達し,触覚情報として提示することにより,対話状況ア ウェアネスを伝え合うことを試みる。プロトタイプシステムである Tangible Chatを用いた実験 の結果, 複数の話題の同時進行が減少し,発話順序交代が円滑化したことが確認された。また,感 情の伝達による対話内容の活性化についての有効性も確認することが...

Haptic icons (brief tangible stimuli with associated meanings) are a new way to convey information, but are difficult to design in large quantities due to technological and perceptual constraints. Here, we employ rhythm in combination with frequency and amplitude to systematically produce 84 distinguishable tactile stimuli for use as icons. The set’s large size is made possible by an analysis o...

Spatial haptic displays, such as electrostatic vibration (electrovibration) based friction displays, augment flat panels and surfaces with spatially arranged tactile content. Such devices can be useful for the visually impaired to translate visual images to tactile ones on demand. In this paper, we explore a tactile palette that consisted of a set of six perceptually distinct tactile stimuli co...

In minimally invasive surgery, tactile feedback is lacking. A tactile display, consisting of a matrix of micro-actuators, represents tactile sensations on the fingertip. Miniaturising powerful, dynamic and accurate actuators with a sufficient stroke and bandwidth is a considerable challenge. The use of pneumatics is promising due to the potential for high power density. This paper discusses a p...

This paper describes a decision method of a placement of tactile elements for manipulation task recognition. Based on the mutual information of the manipulation tasks and tactile information, an effective placement of tactile elements on a sensing glove is determined. Although the effective placement consists of a small number of tactile elements, it has recognition performance as high as that ...

Tactile sensing is an essential element of autonomous dexterous robot hand manipulation. It provides information about forces of interaction and surface properties at points of contact between the robot fingers and the objects. Recent advancements in robot tactile sensing led to development of many computational techniques that exploit this important sensory channel. This paper reviews current ...

In most robotic applications, tactile sensors are modeled as rigid matrices of adjacent pressure sensing elements so that the geometric deformations of their surfaces are neglected. This paper proposes to define these deformations as rotational and translational compliances that are later used as new tactile features for tactile servoing tasks. In fact, a novel two-layered inverse tactile Jacob...

In this paper we outline the fundamentals for a tactile feedback system to be used in conjunction with openair computer music performance devices. Some underlying physiological and perceptual mechanisms of haptics are examined, some currently available open-air controllers are reviewed, and previous technologies and experiments regarding haptic/tactile feedback are surveyed. Our VR/TX system is...

Tactile receptors in the skin allow humans to sense multimodal tactile information such as the contact force, slippage, shape, position and orientation of a contacted object. Humans easily control their muscles by feeding back information from tactile receptors. Therefore, tactile sensing is a key factor in enabling robots to imitate skilled human behaviors. Precise control and dexterity in rob...