1016 積層形 PZT アクチュエータを利用した触覚呈示装置

Abstract

This paper describes the virtual reality for tactile sensation. Since human beings grasp an object according to the surface condition and recognize material of the object, it is important for handling and inspecting objects that human beings recognize object surface. In virtual reality, the tactile sensation is important to enhance the reality of objects presented. Although, several tactile presentation devises have been reported so far, there are a few matrix-typed tactile presentation devises. Since human tactile receptors are distributed on entire fingertip surface, the matrix-typed tactile presentation device is essential to realize the virtual reality for tactile sensation. In this paper, multi-layer piezoelectric ceramic actuators were used for a pressure generator because they can control precise displacement. The single pressure stimulator is composed of four PZT ceramic actuators (displacement of a PZT ceramic actuator is 15 microns per 100 V) and a lever capable of enlarging displacement caused by the PZT ceramic actuators. A tactile presentation device was comprised of 2-by-2 pressure stimulators. To avoid vibration the tactile presentation device was mounted on an X-Y table using linear air-bearings. During experiments, six human subjects touched basic virtual figures such as a circle, a triangle and a square to obtain reasonable distance between two pressure points. From edge trace tests, we estmate the reasonable distance would exist between 1 and 2 mm.