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Modeling and Control for Representation of Pseudo Force Sensation Using Functional Electrical Stimulation

北村 知也 埼玉大学 DOI:info:doi/10.24561/00019563

2021

概要

Humans perceive the outside world using the five senses: sight, hearing, smell, taste, and touch senses. These senses’ information can be communicated, and humans can perceive information at a distant location as if they were in the same place. In particular, information technologies related to vision and hearing have been established from the 19th century, as represented by TV and telephone. These technologies have eliminated the notion of distance from people, allowing them to feel closer to distant persons and objects.

On the other hand, touch sense communication technology has not yet become widespread in our daily lives. Touch sensations can be divided into force, pressure, heat, and pain. Prattichizzo et al. and Pacchierotti et al. demonstrated the pressure sensation by tilting a plate placed on a fingertip[1], [2]. Osawa et al. used a Peltier device to present the heat sensation[3]. Mizuhara et al. used mechanical and electrical stimulation to present natural pain sensation[4]. These devices can be made wearable, and as their accuracy improves, these devices are expected to become more prevalent in our daily lives.

However, there has been no progress in making wearable force sensation presentation devices. “Force senssation” here refers to the sensation that a person feels through deep receptors inside the body, such as muscle spindles, tendons, and joints, and refers to the weight and reaction force from contacting objects. Although this sensation is also called a “deep sensation” , it is referred to as force sensation in this dissertation.

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