Haptic Interface using Sensory Illusion Tomohiro Amemiya

Transcription

1 Haptic Interface using Sensory Illusion Tomohiro Amemiya *NTT Communication Science Labs., Japan

2 NTT Communication Science Laboratories 2/39 Introduction Outline Haptic Interface using Sensory Illusions Kinesthetic force illusion Vestibular illusion Tactile illusions Summary

3 NTT Communication Science Laboratories 3/39 A. Kitaoka (2006),

4 NTT Communication Science Laboratories 4/39 E. Adelson (2002),

5 NTT Communication Science Laboratories 5/39 Environment Interface Human Stimulation Sensation Perception Information = Stimulation Sensation Perception Information = Measurement Sensory illusions Different! = Nonlinearity between sensation and perception

6 NTT Communication Science Laboratories 6/39 Perceived World is not Identical to Physical World. Physical world A series of still photos Information compression by subtracting color difference information Illusion Basis of animation Psychological world Motion pictures Almost same as original picture Compression algorithm on JPEG Subtracting frequencies difficult for humans to hear Almost same as original sound Compression algorithm in mp3 format or Mini Disk

7 NTT Communication Science Laboratories 7/39 Human Interface using Sensory Illusion Human science To understand the distortion between the physical and psychological world Engineering To utilize the distortion to build information displays

8 [ Laval Virtual Grand Prix Award (2007) ] [ Laval Virtual VR interface Award (2007) ] Buru-Navi T. Amemiya, I. Kawabuchi, H. Ando, T. Maeda, "Double-Layer Slider-Crank Mechanism to Generate Pulling or Pushing Sensation without an External Ground", In Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007), , Oct T. Amemiya, H. Ando, T. Maeda, ""Lead-Me Interface" for a Pulling Sensation from Hand-held Devices", ACM Transactions on Applied Perception 5(4), 2008.

9 NTT Communication Science Laboratories 9/39 Haptics in Mobile Devices????? Relatively heavy Spatially constrained Physical constraints Both the user and device must be connected to an external ground in order to generate force

10 NTT Communication Science Laboratories 10/39 Related Work: Non-grounded Force Displays Prior non-grounded force displays: Unable to generate constant force Unable to generate translational force Gyro Effect (Yano et al., 2003) Angular Momentum (Tanaka et al., 2001) Mechanical Brake (Ando et al., 2002)

11 NTT Communication Science Laboratories 11/39 My Approach Creating a Force Sensation Periodic translational motion (=oscillation) To create a constant and translational force by non-grounded displays Not creating a physical force Exploiting characteristics of human perception

12 NTT Communication Science Laboratories 12/39 1. Exploiting Characteristics of Human Perception Psychophysical quantity Physical quantity t + T α( τ τ = t )d 0 x = α(t): acceleration T: time cycle Psychophysical quantity is not identical to physical quantity. t + T t ϕ oα( τ)dτ 0 y = ϕ(x): sigmoid curve of perception If the asymmetric oscillation is designed well, a directed force sensation can be induced.

13 NTT Communication Science Laboratories 13/39 2. Slider-crank Mechanism to Generate Asymmetric Oscillation The weaker acceleration is not noticed. The washout-effect of the weaker acceleration allows humans to be tricked into perceiving this as uni-directional force. Stimuli Illusion Perception

14 NTT Communication Science Laboratories 14/39 Buru-Navi Prototype Crank wheel Swinging arm Guide roller Connecting rod Weight Motor Crank wheel (with crown gears) Motor pinion Swinging arm

15 NTT Communication Science Laboratories 15/39 Introduction movie

16 NTT Communication Science Laboratories 16/39 Evaluation Asymmetric oscillation (test stimuli) y x Acceleration [m/s 2 ] cycle/sec Time [s] Symmetric oscillation (control stimuli) y x Acceleration [m/s 2 ] cycle/sec Time [s]

17 NTT Communication Science Laboratories 17/39 Asymmetric Oscillation Generates a Pushed/Pulled Sensation Proportion of Being pulled to x-direction [%] Asymmetric oscillation Symmetric oscillation (comparison) Frequency [cycles/sec] x x

18 NTT Communication Science Laboratories 18/39 Another Approach to Generate an Asymmetric Oscillation Spring-cam mechanism Resonant motion by linear actuators y x Cam Follower Extension Spring Cam Slider Linear Guide Phase 1 Phase 2 T. Amemiya, H. Ando, T. Maeda, "Hand-held Force Display with Spring-Cam Mechanism for Generating Asymmetric Acceleration", In Proc. of World Haptics Conference 2007, pp , 2007.

19 NTT Communication Science Laboratories 19/39 Example of Applications (1): Accessibility Collaborative research with Kyoto City Fire Department Kyoto Prefectural School for the Visually Impaired Haptic direction indicator Buru-Navi + GPS + Electric compass

20 NTT Communication Science Laboratories 20/39 Example of Applications (2): Entertainment Force feedback tray for novice waiters Buru-Navi Rotation mechanism Position and posture identification system Video processing

21 NTT Communication Science Laboratories 21/39 Tray with Force Display Buru-Navi stepper motor a belt with the belt pulley Pochette Tray

22 NTT Communication Science Laboratories Laval, France (2007) 22/39 Singapore Science Center (2008) T. Amemiya, T. Maeda, H. Ando, "Location-free Haptic Interaction for LargeArea Social Applications", Personal and Ubiquitous Computing, 2008.

23 Human Interface Using GVS T. Maeda, H. Ando, T. Amemiya, N. Nagaya, M. Sugimoto, M. Inami, "Shaking The World: Galvanic Vestibular Stimulation As A Novel Sensation Interface", In Proc. of ACM SIGGRAPH 2005 Emerging Technologies, 2005.

24 NTT Communication Science Laboratories 24/39 Illusion in Balance Sensation Vestibular auditory ossicle semicircular canal external auditory meatus eardrum Otolith eustachian tube vestibular nerve cochlear nerve cochlea??? Motion Platforms Mobile/Wearable Balance can be also controlled by thermal or galvanic vestibular stimulations.

25 NTT Communication Science Laboratories 25/39 GVS (Galvanic Vestibular Stimulation) When a weak DC current is delivered to the mastoid behind your ear, your body responds by shifting your balance toward the anode. If it is strong enough, it not only throws you off balance but alters the course of your movement.

26 NTT Communication Science Laboratories 26/39 Radio-controlled Humans Over 3,000 people have experienced this! (no accidents so far..) T. Maeda, H. Ando, T. Amemiya, N. Nagaya, M. Sugimoto, M. Inami, "Shaking The World: Galvanic Vestibular Stimulation As A Novel Sensation Interface", In Proc. of ACM SIGGRAPH 2005 Emerging Technologies, 2005.

27 NTT Communication Science Laboratories 27/39 Remote-controlled Riders

28 Nail-mounted Tactile Display H. Ando, T. Amemiya, J. Watanabe, M. Inami, T. Maeda, "The Evaluation of Nail-Mounted Tactile Display", In Proc. of World Haptics Conference 2005, 2005.(poster presentation)

29 NTT Communication Science Laboratories 29/39 Conventional tactile displays Human Tactile display Nail-mounted tactile display Tactile display Human??? ground ground Vibration actuator + Voice-coil motor Force sensor + Finger-color sensor B/W sensor Reflection sensor

30 NTT Communication Science Laboratories 30/39 Vibration during Active Touch

31 NTT Communication Science Laboratories 31/39

32 Tactile Motion Aftereffect J. Watanabe, S. Hayashi, H. Kajimoto, S. Tachi, S. Nishida, Tactile motion aftereffects produced by appropriate presentation for mechanoreceptors, Experimental Brain Research 180 (3), pp , 2007.

33 NTT Communication Science Laboratories 33/39 Motion Aftereffect Adaptation (moving stimulus) Test stimulus Vision Illusory motion Tactile Previous Studies: Clear MAEs like in vision were NOT observed.??? Hollins (1994), Lerner (2002) Lerner (2002)

34 NTT Communication Science Laboratories 34/39 Experimental Procedure (400-ms stimulus+600-ms rest)x10 Adaptation ISOI=100 ms Four subjects Three adaptation conditions (No Upward Downward) Interval 2 sec 30 Hz 200ms ISOI Test Stimulus One of nine ISOIs Upward or Downward? ISOI Time Judgment

35 NTT Communication Science Laboratories 35/39 Experimental Result (one subject) No Adaptation Upward Adaptation Downward Adaptation

36 NTT Communication Science Laboratories 36/39 What are the differences between earlier studies and our experiments? Mechanoreceptors under the skin Epi-dermis Skin surface Meissner RA(Rapid Adaptation) Transient Respond to vibration 30 Hz Dermis Endodermis Merkel SA(Slow Adaptation) Sustained Respond to static distortion Hollins (1994) Lerner (2002) Lerner (2002) earlier studies Adapt: RA test :SA =No MAE this report Adapt: RA test : RA =reproductive MAE

37 NTT Communication Science Laboratories 37/39 Summary Sensory illusions can be tools for designing human interfaces. Kinesthetic illusions Vestibular illusions Tactile illusions In overcoming certain difficulties, sensory illusions are very effective. Virtuous circle between human science and engineering is essential for human interfaces using sensory illusions.

38 NTT Communication Science Laboratories 38/39 Members & Acknowledgement Tomohiro Amemiya, Ph.D. (NTT CS Labs.) Taro Maeda, Ph.D. (Osaka Univ.) Hideyuki Ando, Ph.D. (NTT CS Labs.) Junji Watanabe, Ph.D. (PREST, JST)

39 NTT Communication Science Laboratories 39/39 Reference T. Amemiya, H. Ando, T. Maeda, ""Lead-Me Interface" for a Pulling Sensation from Hand-held Devices", ACM Transactions on Applied Perception, Vol. 5, No. 4, T. Amemiya, T. Maeda, H. Ando, "Location-free Haptic Interaction for Large- Area Social Applications", Personal and Ubiquitous Computing, Springer, T. Amemiya, I. Kawabuchi, H. Ando, T. Maeda, "Double-Layer Slider-Crank Mechanism to Generate Pulling or Pushing Sensation without an External Ground", Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007), pp , H. Ando, T. Amemiya, J. Watanabe, M. Inami, T. Maeda, "The Evaluation of Nail-Mounted Tactile Display", In Proc. of World Haptics Conference 2005, Maeda, H. Ando, T. Amemiya, N. Nagaya, M. Sugimoto, M. Inami, "Shaking The World: Galvanic Vestibular Stimulation As A Novel Sensation Interface", Proc. of ACM SIGGRAPH 2005 Emerging Technologies, J. Watanabe, S. Hayashi, H. Kajimoto, S. Tachi, S. Nishida, Tactile motion aftereffects produced by appropriate presentation for mechanoreceptors, Experimental Brain Research 180 (3), pp , 2007.