LRFを用いた低自由度遠隔触知覚システムにおける形状と表面粗さの複合提示(<特集>ハプティックコンテンツ)

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  • Low DOF Haptic Feedback System for Recognition of Shape and Texture of Remote Objects by Using LRF(<Special Issue>Haptic Contents)
  • LRFを用いた低自由度遠隔触知覚システムにおける形状と表面粗さの複合提示
  • LRF オ モチイタ テイジユウド エンカクショクチカク システム ニ オケル ケイジョウ ト ヒョウメン アラサ ノ フクゴウ テイジ

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This paper proposes a system that enables users to recognize remote objects' shapes and textures with single degree of freedom haptic feedback. The system consists of a camera platform and a handheld haptic interface. The platform is equipped with a laser range finder, which can be tilted and panned. The handheld interface can generate 1 DOF reaction force proportional to distance measured by using the laser range finder on camera platform. The laser range finder rotates synchronously according to the handheld interface's translational and rotational motion. In addition, a stereoscopic display indicates real-time stereoscopic video of remote objects captured by its two fish-eye cameras. This system enables users to recognize not only shape but also texture of remote objects by using band-pass filters. Through some experiments, the effectiveness of this system is confirmed.

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