IPSJ SIG Technical Report Vol.2015-HCI-162 No /3/13 VibraPen: 1 1,2 VibraPen VibraPen (GUI) VibraPen: a User Study on High Frequency Vibro-Tacti
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1 VibraPen: 1 1,2 VibraPen VibraPen (GUI) VibraPen: a User Study on High Frequency Vibro-Tactile Feedback Stylus with Simplified Interface Yota Odaka 1 Kentaro Fukuchi 1,2 Abstract: We introduce VibraPen, a tactile feedback stylus for pen input devices. It employs commodity components and uses audio interface to communicate to the device, thus it is easy to connect to mobile devices. VibraPen enables to generate pseudo material textures, embossing effect, and virtual force sensation. It can be used to apply tactile feedback to graphical user interface, pseudo haptics, and pen-input assist. In this paper we introduce the details of the proposed implementation of VibraPen. We also conducted a user study that evaluated virtual friction feedback using VibraPen. 1. [7][3] Fig. 1 iphone VibraPen The user holds a VibraPen, connected to an iphone. 1
2 VibraPen VibraPen VibraPen 2. (GUI) [4] VibraPen / 3. VibraPen VibraPen TactileLabs Haptuator Mark II [5] Web 4. VibraPen 4.1 Haptuator Mark II mm 9.5g 3V 1V 125Hz 5G [5] 2
3 情報処理学会研究報告 図 2 先端部構造が異なる三種類の VibraPen と ipad に接続した 様子 Fig. 2 Three VibraPens that have different nibs, one is connected to an ipad. 試作した VibraPen では 市販のスタイラスのグリップ 部に Haptuator Mark II をテープにより止めている また Haptuator Mark II はオーディオ用ミニプラグを端子とし て有線接続する 図 2 使用する際には プラグを端末の 音声出力端子に接続し 指先でスタイラスを把持して用い る 図 1 スタイラスは入力機構によってその先端部の材質や構造 が異なる これまでに 以下の三種のスタイラスを用いた 図 3 試作したスタイラス 左から 導電ディスク方式 導電性ラ バー方式 電磁誘導方式のスタイラスを使用している Fig. 3 Experimental implementations of VibraPen. From left to right: conductive disc, conductive rubber, hard tip. 実装を試している 導電ディスク方式 静電容量方式のタッチパネル向けに作 これまで接続を試したスマートフォン タブレット ノー られたもので 導電性の透明プラスチックを使用した円 ト PC ではいずれも実効電圧で 1V 程度の出力があり 次 盤状の先端部を持つ スタイラス本体と円盤とはボー 節で述べるように摩擦感や凹凸感程度のフィードバックを ルジョイントで接続されているため スタイラスを傾 与えるには十分な力を生じさせることができる 周波数に けても円盤はタッチパネルに密着するよう設計され ついては Haptuator Mark II でもっとも強い力を生じさ ている ここでは Adonit 社の Jot Pro Dampening せるのが 125Hz 前後であり この周波数帯を出力するの を使用した が困難な機器は考えにくい 導電性ラバー方式 静電容量方式のタッチパネル向けに作 本スタイラスの使用中は端末から音楽や効果音などの音 られたもので 柔らかい導電性のラバーが先端部とし 声出力をユーザに与えることができない しかし多くの端 て使用されている ここでは Wacom 社の Bamboo 末ではステレオ出力が可能であるため 片方のチャネルを Stylus solo, 3rd Generation を使用した フィードバック生成に用い もう片方のチャネルをイヤ 電磁誘導方式 電磁誘導によるペン入力のためのもので フォンに接続することで モノラル再生であれば音声出力 先端部の素材は静電容量方式のものに比べて自由度 は可能である また振動子本体からも可聴音を発すること が高い 広く用いられているものは硬質プラスチック は可能だが 音が強く歪むため用途は限定される を利用した細い先端部を持つものである ここでは Microsoft Surface Pro 3 に付属するスタイラスを使用 した 図 3 に試作した三種の VibraPen を示す スタイラス 4.2 試作品についての所見 振動子をスタイラスにテープ止めするという実装のた め スタイラスのグリップ部の本来のグリップが損われ 先端部はスタイラスとパネルとの接触部位であり その材 またスタイラスの持ち方を制限している 本来は振動子は 質や構造の違いによりユーザーが受ける触感は大きく異な スタイラスに内蔵することが望ましい る このため 提案手法による振動フィードバックの受け 止められ方もスタイラスによって差が生じやすい フィードバックの生成は適切な波形を音声として出力す ることによって行う 正弦波や矩形波などの波形 またそ の周波数やデューティ比 振幅を変化させることでスタイ 試作した VibraPen は端末本体と有線接続されている 使用したケーブルの柔軟性によっては スタイラス操作に 影響を与えやすい カールケーブルを利用するなど スタ イラス操作を阻害しないような配線が必要であろう Haptuator Mark II では 500Hz 以上の信号を印加した ラスから受ける触感は変化する このうち振幅については 場合にそれが音として知覚される 例えば白色雑音を印 VibraPen を接続する端末によって上限に差が見られるが 加すると実際に VibraPen から雑音がするのが聞こえる 2015 Information Processing Society of Japan 3
4 VibraPen 5. VibraPen VibraPen 5.1 VibraPen VibraPen Haptuator 6 VibraPen 5.2 VibraPen Haptuator - 1mm Haptuator *1 5.3 Force Reactor [9] Stevens (TactileLabs, Haptuator Original) [8] VibraPen VibraPen VibraPen 5.4 VibraPen VibraPen *1 100Hz 50Hz 1/5 4
5 4 Fig. 4 An overview of the experimental setup. 5 Fig. 5 A screenshot of the program used for the experiment. Wii 6. VibraPen 6.1 VibraPen VibraPen 4 Microsoft Surface Pro 3 VibraPen VibraPen 0.6V 1.4V Thurstone Thurstone 2 [6] A B 2 2 A B A B VibraPen 5
6 1 Table 1 :Thurstone The result from the experiment, in order of Thurstone s paired comparison method. The highest is the most well-accepted combination Thurstone TECHTILE Toolkit[2] Pseudo Haptics [1] 6
7 8. VibraPen VibraPen VibraPen Maker (2012). [6] Tsukida, K. and Gupta, M. R.: How to Analyze Paired Comparison Data, Technical Report UWEETR , Department of Electrical Engineering, University of Washington (2011). [7] Withana, A., Kondo, M., Makino, Y., Kakehi, G., Sugimoto, M. and Inami, M.: ImpAct: Immersive Haptic Stylus to Enable Direct Touch and Manipulation for Surface Computing, Comput. Entertain., Vol. 8, No. 2, pp. 9:1 9:16, DOI: / (2010). [8] Yamaoka, J. and Kakehi, Y.: A Pen-based Device for Sketching with Multi-directional Traction Forces, Adjunct Proceedings of UIST 14, ACM, pp , DOI: / (2014). [9] Traxion: 21 (WISS 2013) pp (2013). [1] Lécuyer, A., Burkhardt, J.-M. and Etienne, L.: Feeling bumps and holes without a haptic interface: the perception of pseudo-haptic textures, Proceedings of CHI 04, New York, NY, USA, ACM, pp , DOI: (2004). [2] Minamizawa, K., Kakehi, Y., Nakatani, M., Mihara, S. and Tachi, S.: TECHTILE Toolkit: A Prototyping Tool for Design and Education of Haptic Media, Proceedings of VRIC 12, New York, NY, USA, ACM, pp. 26:1 26:2, DOI: / (2012). [3] Nagasaka, S., Uranishi, Y., Yoshimoto, S., Imura, M. and Oshiro, O.: Haptylus: Haptic Stylus for Interaction with Virtual Objects Behind a Touch Screen, SIG- GRAPH Asia 2014 Emerging Technologies, ACM, pp. 9:1 9:3, DOI: / (2014). [4] Poupyrev, I., Maruyama, S. and Rekimoto, J.: Ambient touch: designing tactile interfaces for handheld devices, Proceedings of UIST 02, New York, NY, USA, ACM, pp , DOI: (2002). [5] TactileLabs: Haptuator Mark II:Product Specification 7
( ) [1][2] 3 Displair Displair Displair Fig. 1 1 Overview of the proposed method. 2.2 Traxion[3] Traxion Lecuyer Pseudo-Haptic Fe
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