As a basis for tactile display, it is important to understand the mechanism of tactile sensation. So, we analyze elastic waves inside a finger in tactile exploration with a two-layered, half-infinite elastic finger model, and derive a mapping from finger surface displacements to mechanoreceptors displacements. It is shown that this mapping is a one-to-one mapping. Therefore, it is necessary to create the same finger surface displacement as in actual exploration for tactile virtual reality(VR). However, the mapping from objects shapes to finger surface displacements is shown to be a many-to-one mapping because of the mechanical property of skin. So, we use the envelope of the amplitude-modulated Lamb wave on an elastic plate as an alternative shape to the real object, because its shape is easily controlled. The generation of the wave is confirmed with anexperimental device of silicon rubber vibrated by voice coils.
雑誌名
日本バーチャルリアリティ学会論文誌 = Transactions of the Virtual Reality Society of Japan
弾性波動を用いた皮膚感覚ディスプレイ
tachi_1998_045a.pdf
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