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- きのこ さかいざわ
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1 2007 3
2 i [2] CoP
3 ii
4 iii (Weinstein (Weinstein (Bolanowsky et al., (Stevens, et al.,(1998) ( CoP PVDF
5 1 1 1/ (Epidermis) (Dermis) (Subcuit) 0.7m [1] 17,000 (1) (2) [2],[3] Slowly Adapting: SA (Fast Adapting: FA) I II I II SAI, SAII, FAI, FAII (Merkel cell)(sai) (Ruffini endings)(saii) (Meissner corpuscles)(fai) (Pacinian corpuscles)(faii) : ( ) SAI(Merkel FAI (Meissner) ( SAII(Ruffini) FAII(Pacinian) (
6 1.2 2 Ml:Merkel cell (SAI) Mr:Meissner corpuscles(fai) R:Ruffini endings(saii) P:Pacinian corpuscles(faii) 1.1: : [6] 1mm 2 1 2mm 10 (bit=s) [6] 10 (bit=s) 10 (bit=s) 10 (bit=s) 10 (bit=s) 1.3 1)2 2) [2] [8] 2mm 25mm 70mm mm 5mm 12.5mm 2 2mm 10mm
7 : Bolanowski [11] ON 1 m 0dB SAI ( Hz) 100Hz
8 : (Weinstein 1968 SA FAI Hz 100Hz 5Hz 40Hz (flutter) FAI FAII 250Hz U 0.2 m 1 m FAII FAII ms 50ms 5 9 [3] 1.6 Johansson[12]) 50 m 6 m 500 m 1 m Srinivasan [13] 1 m
9 : (Weinstein 1968 SAII FAI FAII K.O.Johansson[9] FAI FAII ) 0.2mm/s 50 m 4mm/s 20 m 21.6deg/s 0.046deg/s 0.72deg/s 0.265deg/s SAII SAII 6) SAII
10 1.8 [2] FAI NP-III ( A - SAII 15 SAI 0-15 FAII : (Bolanowsky et al., [2] cm Stevens (somatotopy) 1 m Gibson 1) Gibson
11 : (Stevens, et al.,(1998) 2) 1.7 Taylar3) 4) ( )
12 :
13 9 2 [40] , 1. 2.
14 khz 1ms [23] ON/OFF
15 ( cm) 2.1: ON-OFF a b
16 : 3. 16mm mm 0.2pf. 4. (PVDF,PZT) PVDF PZT PVDF. 5. d C= ε A d 2.3:
17 a b CCD c d, : 2.3 (1) (2) (3)
18 ( cm ) cm 6 (Fx,Fy,Fz,Mx,My,Mz) cm 2.5:
19 [24] x,y,z strain gage z F( Fx,Fy,Fz,Mx,My,Mz ) y x 2.6: 6 (4 2.5
![2.5 16 2.5.1 [25] 2.7 0.7mm 4096 64 64 1mm VTR 2.](/docs-images/94/118995447/images/20-0.jpg "8 [26] row-electrode Foot print wires A1 column-electrode A2 A3 rsm sensor V0 B0 current pass B2")
20 [25] mm mm VTR 2.8 [26] row-electrode Foot print wires A1 column-electrode A2 A3 rsm sensor V0 B0 current pass B2 B4 Crosstalk current pass 2.7:
21 [?] 3 mm (1) (2) (1) (2) A sensing area (1)Pressure-conductive rubber (2)Electric wire diamter:0.125 mm, beryllium copper (coated with gold) Thickness:0.5 mm 2.8: mm [28] 1.27mm XY :
![2.5 18 [29] 2.](/docs-images/94/118995447/images/22-0.jpg "10 3 2 Distributed load Conductive film A layer To arithmetic circuit Electrode Current Electrode")
22 [29] Distributed load Conductive film A layer To arithmetic circuit Electrode Current Electrode Pressure conductive rubber Conductive film B layer 2.10: ) [37] 68cm ON/OFF
23 :?? 40mm 1MHz Churming Skin Sensor chips (Resonator) Molding Coil: Receiving and transmitting electrical power Capacitance : Sensitive to stress Sensing chip Grand sensing coil Learning of sensor location Reramic resonator: Provide high-q resonance Grand powering coil 2.12: 2.13 (PSD) 13)
24 (Position Sensitive Detector) 2.13: 2.14 LED 8ch ch 4 32(8 4 1 MPU(8051) LED urethane foam Photo transitor 2.14: SMBus SMBus 1 SMBus SMBus ( )
![2.5 21 2.15 2.15(b) 2.15(a) [?]. layer A layer B element 2.15: 2.](/docs-images/94/118995447/images/25-0.jpg "16 \"D\" \"P\" f P P P q D D D D: Time delay unit, P: Transducer unit 2.")
25 (b) 2.15(a) [?]. layer A layer B element 2.15: 2.16 "D" "P" f P P P q D D D D: Time delay unit, P: Transducer unit 2.16:
26 mm, (0.6mm) 3mm LED CCD 3 f x ;f y ;f z 30gf 5 4mm 2.17: CCD 27mm 2.7 3)
27 CCD came sensing element acrylic dome acrylic (optical waveguide) light centroid optical fiber sensing element force 2.18: 3, ) 50mm 25mm side accelerometer vibrating "nib" direction of slip mounting base foam rubbber skin middle accelerometer typical pressure distribution profile 2.19:
28 ( ( ( Fig. 2 3 xyz grip force σxx incipient slip σxx x+dx grip force load force object Ultrasonic wave transmitter Ultrasonic wave reciever z y tensile σxx compressive tensile σxx compressive 2.20: [MPa] 1:35 105[MPa] [mm] 763 [mm] 612 [gw]
29 object finger object finger phosphor bronze plate strain gage silicone rubber stick slip stick slip pedestal 2.21: CoP (1) (2) (3) (4) 2.8 5) )
![2.8 26 Slip [mm] Sensor Output [V] 10 0-10 -20 6 4 2 0-2 -4-6 -8-10 Las er S ens or 0.0 1.0 2.0 3.0 4.0 5.0 6.0 7.0 8.0 9.0 10.](/docs-images/94/118995447/images/30-0.jpg "0 11.0 Time [s] CoP Sensor : pouring water 0.0 1.0 2.0 3.0 4.0 5.0 6.0 7.0 8.0 9.0 10.0 11.0 Time [s] 2.22: CoP 2.23: 2.8.1 7) 1.")
30 Slip [mm] Sensor Output [V] Las er S ens or Time [s] CoP Sensor : pouring water Time [s] 2.22: CoP 2.23: ) 1.5mm 8)
31 ) 10) 11) 12) ) PVDF 35(7x5) SA RA 9) ( PVDF ) PVDF PVDF ) 45mm 25mm 0.8mm 0.6mm PVF2 0.8mm 3.2mm Hz DC
32 Strain gage PVDF film an outer layer (Silicone rubber) an inner layer (Silicone rubber) softer than outer layer a metal rod 2.24: PVDF 10Hz Hz ) ) 11) 12) )
33 DC (PSD) 13) ) 0.2mm 2mm ) 15) 17)18) 19) 20) mm 21)
34 ) 23) 24) 2.11
35 31 [1], :, 11 ), pp ,1984. [2] Schmit, R.F. ( ):,,1991 [3] S. J. LEDERMAN: Skin and Touch, Encyclopedia of Human Biology, Volume 7, pp.51-63,1991 [4] J.M. Loomis, S. J. LEDERMAN: Tactual Perception, In "Handbook of perception and Human [5] R S. Johansson and A. B. Vallbo: Tactile sensory coding in the glabrous skin of the human hand, Trends Neurosc, 6,27, pp.27-32,1983 [6] :,,No.215, 18,1986. [7] J. C. Craig and K. B. Lyle: A comparison of tactile spatial sensitivity on the palm and fingerpad, Perception & Psychophysics, 63-2,pp ,2001 [8] Weinstein, S. : Intensive and extensive aspects of tactile sensitivity as a function of body part, sex, and laterality, The Skin Senses, (Kenshalo, D.R., ed.), Charles C Thomas, Ill., U.S.A., pp , [9] K.O. Johnson: Neural mechanisms of tactual form and texture discrimination, Information processing in cutaneous mechanoreceptors, Federation Proceedings, 42-9, pp ,1983. [10] J. R. Phillips, R. S. Johansson, and K. 0. Johnson: Responses of Human Mechanoreceptive Aflerents to Embossed Dot Arrays Scanned across Fingerpad Skin, The Journal of Neuroscience, 72(3), pp ,1992. [11] S.J. Bolanowski, G.A.Gescheider, R.T.Verrillo, C.M.Checkosky: Four channels mediate the mechanical aspects of touch, J. Acoust. Soc. Am, 85(5), pp ,1988. [12] R.S. Johansson, R.H. LaMotte: Tactile detection thresholds for a single asperity on an otherwise smooth surface, Somatosens. Res., 1, pp.21-31,1983. [13] R.H. Lamotte and M.A. Srinivasan: Surface Microgeometry:Tactile Perception and Neural Encoding, Information processing in the somatosensory system, wenner-gren Int. symp. series vol.7,stokton press, pp.49-58,1989. [14] Hosoe, F. Odagawa, T. Shimizu, S., Ino, S.; Izumi, T., Tukahashi, M., Ifukube, T: Development of a tactile sensor modelled after the shearing strain perception mechanism of the human tactile sense and its application, Transactions of the Society of Instrument and Control Engineers, Vol. 30, Issue 5, pp ,1994. [15] Y. Shimizu: Temporal effect on tactile letter recognition by tracing mode, Perceptual and Motor Skills, 55, pp ,1982. [16] D. S. Alles: Information Transmission by Phantom Sensations, IEEE Trans. Man-Machine Systems, Vol.MMS-11,NO.1,March, pp.85-91,1970. [17] H.E. Torebjork, J.L. Ochoa: Specific sensations evoked by activity in single indentified sensory
36 32 units in man, ActaPhysiol Scand, 110:pp ,1980. [18], :,,29-9,pp ,1987. [19],,,,,,,, :,,2P2-E08,2002. [20],, :, C,63, 607, pp ,1997. [21],,, :, VR,pp ,2000. [22] M. SHIMOJO, M. SHINOHARA, Y. FUKUI: Human Shape Recognition Performance for 3D Tactile Display, IEEETransaction on Systems, Man and Cybernetics, Part A, 29,6, pp ,1999. [23] :,,Vol.26,No.2,pp ,1987. [24],, :,,Vol.6, No.9, pp ,1991. [25], ( ), Vol.57, No.537, pp ,1991 [26],,, :,,Vol.31, No.9, pp , [27] M. Shimojo, A. Namiki, M. Ishikawa, R. Makino and K. Mabuchi: A tactile sensor sheet using pressure conductive rubber with electrical-wires stitched method, IEEE Trans. Sensors,vol.5, no.4, pp ,2004. [28] Tekscan, Inc: [29] :,, Vol.18, No.7, pp , [30] : :,,Vol.11.No.7,PP ,1993. [31], :, 14,PP ,1996. [32] :, TECHNO,Vol.9, No.3, pp.6-9, [33] Jae S. Son, Eduardo A. Monteverde, and Robert D. How: A tactile sensor for localizing transient events in manipulation, Proc.Int. Conf. Robotics and Automation, pp ,1994. [34] Robert D. How: A force-refecting teleoperated hand system for the study of tactile sensing in precision manipulation, Proc.Int. Conf. Robotics and Automation, pp ,1992. [35] Paolo Dario, Giorgio Buttazzo: A force-refecting teleoperated hand system for the study of tactile sensing in precision manipulation, Robotics Research Vol.6, No.3, pp.25-48, [36], :,,Vol.31,No.9, ,1995. [37],, :,,vol.16, No.1, PP.80-86,1998. [38],,, :, 10,PP ,1992.
37 33 [39] Fearing, R.S., Hollerbach,J.M.: Basic Solid Mechanics for Tactile Sensing, Int.J. Robotics Research, Vol.4, No.3, pp.40-54, [40] M. Shimojo: Mechanical Filtering Effect of Elastic Cover for Tactile Sensor, IEEETransactions on Robotics and Automation,13,1,pp ,1997. [41] Cameron, A., Daniel, R., Duaant-Whyte, H.: Touch and Motion, IEEE Proc. Robotics and Automation,pp , [42] Canepa, G., Morabito, M., Rossi, D., Caiti, A., Parisini, T.: Shape from touch by a neuralnet, IEEE Proc. Robotics and Automation, pp , [43] Shinoda,H. et al.: A Tactile Sensor using Three-Dimensional Structuret, IEEE Proc. Robotics and Automation, Vol.1, pp , 1993 [44] H. Shinoda, K. Matsumoto and S. Ando: Acoustic Resonant Tensor Cell for Tactile Sensing, Proc IEEE Int. Conf. on Robotics and Automation, pp , 1997 [45] :,,Vol. 11, No.7, PP , [46],, :,,PP , [47] Kaneko,M.: Active Antenna, IEEE Proc. Robotics and Automation, Vol. 3, pp , [48], :, C-II, Vol.J74-C, No.5, pp (1991).
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a) Extraction of Similarities and Differences in Human Behavior Using Singular Value Decomposition Kenichi MISHIMA, Sayaka KANATA, Hiroaki NAKANISHI a
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![1 Kinect for Windows M = [X Y Z] T M = [X Y Z ] T f (u,v) w 3.2 [11] [7] u = f X +u Z 0 δ u (X,Y,Z ) (5) v = f Y Z +v 0 δ v (X,Y,Z ) (6) w = Z +](/thumbs/81/83701592.jpg "1 Kinect for Windows M = [X Y Z] T M = [X Y Z ] T f (u,v) w 3.2 [11] [7] u = f X +u Z 0 δ u (X,Y,Z ) (5) v = f Y Z +v 0 δ v (X,Y,Z ) (6) w = Z +")
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1 2 3 4 5 130mm 32mm UV-irradiation UV-cationic cure UV-cationic cure UV-cationic cure Thermal cationic Reaction heat cure Thermal cationic Cation Reaction heat cure Cation (a) UV-curing of
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A 1/4 1 1/ 1/1 1 9 6 (Vergence) (Convergence) (Divergence) ( ) ( ) 97 1) S. Fukushima, M. Takahashi, and H. Yoshikawa: A STUDY ON VR-BASED MUTUAL ADAPTIVE CAI SYSTEM FOR NUCLEAR POWER PLANT, Proc. of FIFTH
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特別寄稿 ソフトインフラとしてのデジタル地図を活用した自動運転システム Autonomous vehicle using digital map as a soft infrastructure 菅沼直樹 Naoki SUGANUMA 1. はじめに 1) 2008 2012 ITS 2) CO 2 3) 4) Door to door Door to door Door to door DARPA(
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(SIS) NII) 101-8430 tel 03-4212-2516 E-mail ueno@nii.ac.jp 1 NII 2 (symbiosis) 2 (parasitism) 2 Knowledge Creation The Symbiotic partnership of University, Government and Industry, Proc. Information Environment
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![(3.6 ) (4.6 ) 2. [3], [6], [12] [7] [2], [5], [11] [14] [9] [8] [10] (1) Voodoo 3 : 3 Voodoo[1] 3 ( 3D ) (2) : Voodoo 3D (3) : 3D (Welc](/thumbs/65/54056306.jpg "(3.6 ) (4.6 ) 2. [3], [6], [12] [7] [2], [5], [11] [14] [9] [8] [10] (1) Voodoo 3 : 3 Voodoo[1] 3 ( 3D ) (2) : Voodoo 3D (3) : 3D (Welc")
1,a) 1,b) Obstacle Detection from Monocular On-Vehicle Camera in units of Delaunay Triangles Abstract: An algorithm to detect obstacles by using a monocular on-vehicle video camera is developed. Since
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Application of image correlation technique to determination of in-plane deformation distribution of paper Toshiharu Enomae Graduate School of Agricultural and Life Sciences The University of Tokyo 1 Peters
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5-3 Photonic Antennas and its Application to Radio-over-Fiber Wireless Communication Systems LI Keren, MATSUI Toshiaki, and IZUTSU Masayuki In this paper, we presented our recent works on development of
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Importance and Countermeasures for Sebum Control in Application of Makeup Cosmetics Koichi NOMURA POLA Chemical Industries, Inc., R&D Planning Department 27-1, Takashimadai, Kanagawa-ku, Yokohama 221-0833,
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