2024/05/14 更新

写真a

コムラ ヒラク
小村 啓
KOMURA Hiraku
Scopus 論文情報  
総論文数: 0  総Citation: 0  h-index: 2

Citation Countは当該年に発表した論文の被引用数

職名
助教
メールアドレス
メールアドレス
研究室住所
福岡県北九州市戸畑区仙水町1-1
外部リンク

研究キーワード

  • 触覚

  • 錯覚現象

  • 触覚ディスプレイ

研究分野

  • 情報通信 / 知覚情報処理  / 人間情報学、応用情報学およびその関連分野

  • 情報通信 / ヒューマンインタフェース、インタラクション  / 人間情報学、応用情報学およびその関連分野

取得学位

  • 名古屋大学  -  博士(情報学)   2020年03月

学内職務経歴

  • 2020年04月 - 現在   九州工業大学   大学院工学研究院   機械知能工学研究系     助教

所属学会・委員会

  • 2017年04月 - 現在   日本機械学会   日本国

  • 2017年04月 - 現在   日本バーチャルリアリティ学会   日本国

  • 2023年04月 - 現在   日本機械学会 情報・知能・精密機器部門 学術委員   日本国

  • 2023年04月 - 現在   日本ロボット学会会誌編集委員会 委員   日本国

  • 2021年04月 - 現在   アクチュエータシステム技術企画委員会   日本国

  • 2021年04月 - 現在   計測自動制御学会 システムインテグレーション(SI)部門, 触覚部会 委員   日本国

▼全件表示

論文

  • Development of robust braking controller for autonomous vehicles to achieve any ride comfort performance 査読有り 国際誌

    Komura H., Oya M.

    Artificial Life and Robotics   28 ( 2 )   418 - 424   2023年05月

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    担当区分:筆頭著者, 責任著者   記述言語:英語   掲載種別:研究論文(学術雑誌)

    The number of automobile accidents still exceeds 300,000 as of 2020 in Japan. People have paid attention to the automatic driving technology as one technology for reduction of the number of accidents. To achieve this goal, the various automatic driving control methods have been developed. However, these automatic driving systems have some problems, such as the passengers’ ride comfort. To overcome this problem, we developed a robust braking controller that can realize the ride comfort desired by the passenger, even though the vehicle parameters are different from the nominal values. To develop this system, at first, we designed an ideal vehicle brake model that can easily achieve the ride comfort. Next, we developed a robust braking controller for vehicles. To confirm that our controller meets the demand performance, we performed numerical simulations. As a result, we confirmed that our brake system satisfies the requirement of the ride comfort and braking performance simultaneously, even though vehicle parameters are varied plus or minus 20% different from nominal values.

    DOI: 10.1007/s10015-022-00842-y

    Scopus

    その他リンク: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85144860504&origin=inward

  • Tangential-force detection ability of three-axis fingernail-color sensor aided by CNN 査読有り 国際誌

    Watanabe K., Chen Y., Komura H., Ohka M.

    Robotica   19 ( 4 )   2023年03月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)

    We create a new tactile recording system with which we develop a three-axis fingernail-color sensor that can measure a three-dimensional force applied to fingertips by observing the change of the fingernail's color. Since the color change is complicated, the relationships between images and three-dimensional forces were assessed using convolution neural network (CNN) models. The success of this method depends on the input data size because the CNN model learning requires big data. Thus, to efficiently obtain big data, we developed a novel measuring device, which was composed of an electronic scale and a load cell, to obtain fingernail images with 0 to 360 directional tangential force. We performed a series of evaluation experiments to obtain movies of the color changes caused by the three-axis forces and created a data set for the CNN models by transforming the movies to still images. Although we produced a generalized CNN model that can evaluate the images of any person's fingernails, its root means square error (RMSE) exceeded both the whole and individual models, and the individual models showed the smallest RMSE. Therefore, we adopted the individual models, which precisely evaluated the tangential-force direction of the test data in an - plane within around 2.5 error at the peak points of the applied force. Although the fingernail-color sensor possessed almost the same level of accuracy as previous sensors for normal-force tests, the present fingernail-color sensor acts as the best tangential sensor because the RMSE obtained from tangential-force tests was around 1/3 that of previous studies.

    DOI: 10.1017/S0263574723000309

    Scopus

    その他リンク: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85151452438&origin=inward

  • Enhancement process of kinesthetic illusion caused by stimuli of vibrations and movies 査読有り

    Hanai T., Komura H., Masakazu H., Ohka M.

    Proceedings of the International Display Workshops   27   615 - 618   2021年12月

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)

    The kinesthetic illusion (KI) is an illusion that when a suitable vibration stimulus is applied to tendons or muscles. In KI, the participants feel as if their stimulated tendons or muscles were stretched and their related limbs moves in the exteded direction. In the previous study, we investigated the effect of strengthening the moving image in the process of repeating experiments performed by naïve persons who have not experienced the KI so far. An experiment in which a vibration stimulus was applied to the Flexor Carpal Radius (FCR) muscle tendon of the right hand was repeated 5 times to confirm the training effect on KI, which was evaluated by the magnitude estimation method. In this study, we investigated the effect of the rubber hand illusion (RHI) on the KI with displaying a movie of the wrist extension movement on a display placed in front of the arm.

    Scopus

    その他リンク: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85119955908&origin=inward

  • Two experimental devices for record and playback of tactile data 査読有り

    Ohka M., Komura H., Watanabe K., Nomura R.

    Philosophies   6 ( 3 )   2021年09月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)

    A tactile record and playback system will progress tactileology—a new cross-disciplinary field related to tactile sensations—as it will enhance its use in the instruction, archiving, and analysis of human manipulation. In this paper, we describe two key devices for achieving tactileology: a tactile sensor capturing human tactile sense (fingernail color sensor) and a robotic tactile sensor, both of which can detect not only normal force but also tangential force. This is beneficial because people manipulate objects and tools in various ways, such as grasping, picking, and rubbing. The fingernail color sensor registers the three-dimensional (3D) force applied to a fingertip by detecting the fingernail color change caused by blood distribution under the fingernail, which can be observed with green illumination and a miniature camera. Since detecting this color change is more complicated than using a robotic sensor, the relationships between the image and 3D force are learned using a convolutional neural network (CNN). In the robotic sensor, the 3D force applied to a robotic finger transforms into a bright area using an illuminated acrylic core, a rubber robotic finger skin, and a miniature camera. We measure normal force and tangential force by the brightness and movement of the bright area, respectively. Using a force gauge or an electronic scale for measurement, we perform a series of evaluation experiments. The experimental results show that the precision of both the fingernail color sensor and the robotic tactile sensor are sufficient for our system.

    DOI: 10.3390/philosophies6030054

    Scopus

    その他リンク: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85112406093&origin=inward

  • Investigation of tactile illusion based on gestalt theory 査読有り

    Komura H., Nakamura T., Ohka M.

    Philosophies   6 ( 3 )   2021年09月

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    担当区分:筆頭著者   記述言語:英語   掲載種別:研究論文(学術雑誌)

    Time-evolving tactile sensations are important in communication between animals as well as humans. In recent years, this research area has been defined as “tactileology,” and various studies have been conducted. This study utilized the tactile Gestalt theory to investigate these sensations. Since humans recognize shapes with their visual sense and melodies with their auditory sense based on the Prägnanz principle in the Gestalt theory, this study assumed that a time-evolving texture sensation is induced by a tactile Gestalt. Therefore, the operation of such a tactile Gestalt was investigated. Two psychophysical experiments were conducted to clarify the operation of a tactile Gestalt using a tactile illusion phenomenon called the velvet hand illusion (VHI). It was confirmed that the VHI is induced in a tactile Gestalt when the laws of closure and common fate are satisfied. Furthermore, it was clarified that the tactile Gestalt could be formulated using the proposed factors, which included the laws of elasticity and translation, and it had the same properties as a visual Gestalt. For example, the strongest Gestalt factor had the highest priority among multiple competing factors.

    DOI: 10.3390/philosophies6030060

    Scopus

    その他リンク: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85112412732&origin=inward

  • Degree of muscle-and-tendon tonus effects on kinesthetic illusion in wrist joints toward advanced rehabilitation robotics 査読有り

    Komura H., Kubo T., Honda M., Ohka M.

    Robotica   40 ( 4 )   1222 - 1232   2021年01月

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    担当区分:筆頭著者, 責任著者   記述言語:英語   掲載種別:研究論文(学術雑誌)

    Due to increasing demand for rehabilitation and therapy for cerebrovascular diseases, patients require advanced development of medical rehabilitation robots. In our laboratory, we focus on the formation capability of the substitute neural path caused by brain plasticity using the kinesthetic illusion (KI), which is effective for therapies using robots. In KI, people perceive an illusionary limb movement without an actual movement when a vibration stimulus is applied to a limb's tendons. In previous research, the optimal frequency that induces the maximum KI has a correlation factor of about 0.5 with the tendon's natural frequency when a human subject is in a state of laxity. However, we do not know whether the above finding can be applied to actual rehabilitation because muscles and tendons are sometimes in tonus during rehabilitation, a state that varies the natural frequency. In this study, we investigate the correlation between the optimal and natural frequencies of tendon by systematically changing their tension to clarify the effects on the illusion induced by the muscle and the tendon when they are in tonus. We identified a negative correlation between the optimal and natural frequencies when they are in tonus, although a positive correlation appeared when they are in laxity. This result suggests that KI's optimal frequency should be changed based on the degree of the tendon and muscle tonus. Therefore, our present findings provide a suitable vibration frequency that induces KI due to the degree of the tendon and muscle tonus during robot therapies.

    DOI: 10.1017/S0263574721001107

    Scopus

    その他リンク: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85113745268&origin=inward

  • 心地よさを生起するHapticデバイス開発に向けた触覚のGestaltの定式化

    小村 啓, 矢崎 武瑠, 大岡 昌博

    IIP情報・知能・精密機器部門講演会講演論文集 ( 一般社団法人 日本機械学会 )   2021 ( 0 )   IIP1B2-4   2021年01月

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    担当区分:筆頭著者   記述言語:日本語   掲載種別:研究論文(研究会,シンポジウム資料等)

    <p>To improve the tactile VR technology, we researched the haptic device technology that can provide the material feeling to the palm of hand. We adopted Velvet Hand Illusion (VHI), which is one of the tactile illusion phenomena, and tried to control this sensation. Since it is necessary to create the model of VHI mechanism, we tried to formulate it by applying law of pragnanz in Gestalt theory, which is famous for visual research, to VHI. In the formulation, we focused on the basic VHI stimulus in which two parallel lines (wires) reciprocated between the palms and formulated the VHI intensity by using the phase difference of two parallel lines movement and the speed difference of the two lines as explanatory variables. We conducted the psychophysical experiment and verified this formulation. It was found that our proposed model can explain the relationship between VHI intensity and the stimulus conditions when there was no velocity difference between the two lines. On the other hand, in the condition that included phase and velocity difference, our model explained the relationship between them in only large velocity difference condition. This result suggests that the phase difference and the velocity difference are interrelated, and we should clarify the relationship between them to improve the prediction accuracy of VHI in the future.</p>

    DOI: 10.1299/jsmeiip.2021.iip1b2-4

    CiNii Article

    CiNii Research

    その他リンク: https://www.jstage.jst.go.jp/article/jsmeiip/2021/0/2021_IIP1B2-4/_pdf

  • CNNによる爪色三軸触覚センサの高精度化

    渡邉 圭介, 小村 啓, 大岡 昌博

    年次大会 ( 一般社団法人 日本機械学会 )   2021 ( 0 )   J162-02   2021年01月

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    記述言語:日本語   掲載種別:研究論文(研究会,シンポジウム資料等)

    <p>In our previous study, we developed a fingernail color sensor capable of identifying the magnitude and direction of the force acted on fingers. The prototype is equipped with a small CMOS camera and green LEDs, and collected a dataset of vertical force and shear force acting on the index finger and fingernail color images using an electronic balance and a load cell. The dataset was trained by CNN to estimate forces from the images. In this study we produced individual CNN models, which learned individual fingernail color change data. RMSEs for nine human subjects were 0.12, 0.12 and 0.29 [N] for <i>F<sub>x</sub></i>, <i>F<sub>y</sub></i> and <i>F<sub>z</sub></i>, respectively. RMSEs of <i>F<sub>x</sub></i> and <i>F<sub>y</sub></i> are significantly smaller than those of previous studies.</p>

    DOI: 10.1299/jsmemecj.2021.j162-02

    CiNii Research

  • Formulation of tactile Gestalt to express variation in velvet hand illusion caused by out-of-phase cycles of two wires 査読有り

    KOMURA Hiraku, NAKAMURA Toshiki, OHKA Masahiro

    Journal of Advanced Mechanical Design, Systems, and Manufacturing ( 一般社団法人 日本機械学会 )   14 ( 6 )   JAMDSM0088 - JAMDSM0088   2020年01月

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    担当区分:筆頭著者   記述言語:英語   掲載種別:研究論文(学術雑誌)

    <p>To develop a tactile display, we focused on the Velvet Hand Illusion (VHI), which is a tactile illusion phenomenon. The most important feature of VHI is that VHI is not generated in one wire but is generated in two or more wires. This means that we recognize the area surrounded by wires as a Gestalt and a smooth surface sensation is generated in the Gestalt. We assume that the VHI mechanism is related to the law of closure and the law of common fate in Gestalt theory. In this paper, we investigate the relationship between VHI and the law of closure by means of variation in a phase difference of two wires' cyclic movement, and formulate VHI variation, taking into account the law of closure. We try to divide the law of closure into two factors: one of them is a factor of translation and the other is a factor of elasticity. We formulate the tactile Gestalt and verify the validity of this formulation by comparing the result of the psychophysical experiment to the estimation via the formulation. This work shows that the law of closure in the tactile Gestalt consists of the translation factor and the elasticity factor, and the VHI mechanism is described by the formulation of the tactile Gestalt.</p>

    DOI: 10.1299/jamdsm.2020jamdsm0088

    Scopus

    CiNii Article

    CiNii Research

    その他リンク: https://ci.nii.ac.jp/naid/130007882189

  • 振動・動画刺激によって生起される運動錯覚現象の強化過程

    花井 哲哉, 小村 啓, 本多 正計, 大岡 昌博

    年次大会 ( 一般社団法人 日本機械学会 )   2020 ( 0 )   J16202   2020年01月

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    記述言語:日本語   掲載種別:研究論文(研究会,シンポジウム資料等)

    <p>The kinesthetic illusion (KI) is an illusion that when a suitable vibration stimulus is applied to tendons or muscles, the stimuli tend to feel as if the stimulated tendons or muscles were stretched to move related limbs. In the previous study, we investigated the process of strengthening the moving image in the process of repeating experiments performed by naïve persons who have not experienced the motion illusion so far. An experiment in which a vibration stimulus was applied to the Flexor Carpal Radius (FCR) tendon of the right hand was repeated 5 times to confirm the training effect on KI, which was evaluated by the magnitude estimation method. In the present study, we investigated the effect of the rubber hand illusion (RHI) on the KI with displaying a movie of the wrist extension movement on a display placed in front of the arm.</p>

    DOI: 10.1299/jsmemecj.2020.j16202

    CiNii Article

    CiNii Research

    その他リンク: https://www.jstage.jst.go.jp/article/jsmemecj/2020/0/2020_J16202/_pdf

  • 滑らかさを惹起する触錯覚現象の機序解明に向けた基礎調査

    望月 朋哉, 小村 啓, 大岡 昌博

    年次大会 ( 一般社団法人 日本機械学会 )   2020 ( 0 )   J16204   2020年01月

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    記述言語:日本語   掲載種別:研究論文(研究会,シンポジウム資料等)

    <p>There is an illusion phenomenon called Velvet Hand Illusion (VHI), in which two steel wires are sandwiched between both hands and rubbed back and forth to create a smooth sensation on the palm. In order to quantitatively evaluate the touch feeling of VHI, a series of psychophysical experiments was performed using the SD method and factor analysis to obtain the psychophysical dimension of tactile perception. As a result, it was found that the difference in VHI sensation between the dot-matrix VHI and the wire VHI was caused by the influence of each stimulating material. It was also clarified that VHI was a phenomenon caused by integration rather than lateral inhibition.</p>

    DOI: 10.1299/jsmemecj.2020.j16204

    CiNii Article

    CiNii Research

    その他リンク: https://www.jstage.jst.go.jp/article/jsmemecj/2020/0/2020_J16204/_pdf

  • Elucidation of Velvet Hand Illusion using LABNIRS toward a New Haptic Display 査読有り

    Komura H., Kosuzi H., Ohka M.

    MHS 2019 - 30th 2019 International Symposium on Micro-NanoMechatronics and Human Science   2019年12月

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    担当区分:筆頭著者   記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)

    © 2019 IEEE. VHI (Velvet Hand Illusion) is an illusion phenomenon to make someone feel a smooth sensation like velvet fabric and it is expected to be applied to haptic devices. To achieve this goal, it is very important to elucidate the mechanism of VHI. In this research, we investigate whether the brain activation related to VHI can be measured with NIRS. As a result, it is confirmed that the right middle frontal gyrus plays an important role in illusion occurrence which is same as the previous fMRI research.

    DOI: 10.1109/MHS48134.2019.9249323

    Scopus

    その他リンク: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85097773245&origin=inward

  • Control method of kinesthetic illusion using natural frequency of tendon toward compact rehabilitation devices 査読有り

    Komura H., Ikeda K., Honda M., Ohka M.

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   2019-July   163 - 168   2019年07月

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    担当区分:筆頭著者   記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)

    © 2019 IEEE. To develop devices of neurorehabilitation for the stroke patients, we focus on the Kinesthetic Illusion (KI), which is a proprioceptive illusion phenomena. In KI, we feel the joint movement sensation without actual movement, when the vibrating stimulation is applied to a specific tendon. In KI research, it is very important to clarify the optimal condition to induce the stronger illusion, which has not yet been clarified. In this study, we try to clarify the optimal condition for inducing KI from the view point of vibration engineering. This result will contribute toward development of a new mechatronics system inducing KI. In order to the abovementioned investigation, we assume that there is an important relationship between a natural frequency of the specific tendon and the optimal frequency for KI. We focus on the tendon of the Flexor Carpi Radialis muscle (FCR) which is related to the wrist joint movement in the extended direction and conduct a series of psychophysical experiments. As a result, a correlation of R = 0.50 is found between the optimal frequency for KI and a natural frequency of the tendon. This result demonstrates that the joint moving sensation of limbs can be controlled through a basic vibrating stimulation to induce KI by means of applying the natural frequency of the specific tendon.

    DOI: 10.1109/AIM.2019.8868657

    Scopus

    その他リンク: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85074287147&origin=inward

  • The effects of tactile gestalt on generating velvet hand illusion 査読有り

    Komura H., Ohka M.

    26th IEEE Conference on Virtual Reality and 3D User Interfaces, VR 2019 - Proceedings   1026 - 1027   2019年03月

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    担当区分:筆頭著者   記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)

    © 2019 IEEE. Smoothness is one of the important factors in controlling texture sensation in tactile VR. In previous research, the authors utilized Velvet Hand Illusion (VHI), which is a tactile illusion phenomena, to generate a smooth texture on a dot-matrix display. Since the dot-matrix display can generate arbitrary figures, we are attempting to evaluate our new hypothesis of the VHI mechanism using this display. In our hypothesis, a cognitive mechanism called Gestalt grouping [3] is related to VHI occurrence. If tactile Gestalt were elucidated, we could understand the tactile sensation mechanism deeply and the various devices would be developed in the VR research field. In this paper, we investigate the relationship between tactile Gestalt and VHI through psychophysical experiments. In these experiments, the appearance intensity of tactile Gestalt is controlled by means of density and length of the lines formed on the dot-matrix display. It is concluded that the law of closure stated in the principle of Prägnanz is an essential condition related to tactile Gestalt to generate VHI.

    DOI: 10.1109/VR.2019.8798033

    Scopus

    その他リンク: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85071850763&origin=inward

  • Edge angle perception precision of active and passive touches for haptic VR using dot-matrix display 査読有り

    Komura H., Ohka M.

    Journal of Advanced Mechanical Design, Systems and Manufacturing   13 ( 3 )   2019年01月

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    担当区分:筆頭著者   記述言語:英語   掲載種別:研究論文(学術雑誌)

    © 2019 The Japan Society of Mechanical Engineers In haptic virtual reality (VR), there are two important challenges: one is the difficulty of reproducing a surface feeling with haptic devices, and the other is the presentation method used for the display. We developed a tactile mouse using palm presentation for the former challenge to tackle the issue, “which tactile perception is superior for texture recognition, active or passive touch?” In a psychophysical experiment, two oblique edges of dot-patterns are presented consecutively as simple textures, and human subjects compare them to determine which is larger. We evaluated the precision of perception using the difference threshold of the edge angles calculated by the constant stimuli method. Experimental results show that the perception precision at low edge movement speeds (45 and 90 mm/s) was higher than that at high speeds (130 and 170 mm/s), and moreover, that there was no significant difference in precision of the edge angle perception between active and passive touches. The former finding seems to be caused by how well the mechanoreceptive unit handles uneven surfaces. The latter finding is due to the mechanism of the efference copy of a motor signal provided from the motor cortex not having a significant influence on texture recognition. The tactile image deterioration induced by the object movement might be compensated for with information processing in the central nervous system, which keeps stable tactile image without help from the efference copy. This work contributes to developing the haptic device which provides visually impaired persons with the tactile map.

    DOI: 10.1299/jamdsm.2019jamdsm0051

    Scopus

    その他リンク: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85072512605&origin=inward

  • Stimulation conditions to generate velvet hand illusion through a dot-matrix display 査読有り

    Komura H., Ohka M.

    CIVEMSA 2018 - 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, Proceedings   2018年08月

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    担当区分:筆頭著者   記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)

    © 2018 IEEE. To enhance the reality of touch feeling in VR, one effective presentation is the texture sensation of a virtual object. Although the texture sensation makes persons perceive a virtual object to be a real one, research on texture sensation has not always progressed due to the difficulty of developing a stimulus presentation device. To compensate for this hardware problem, we focus on the Velvet Hand Illusion (VHI), which is one of the tactile illusion phenomena, as a method of presenting texture sensation. In our previous study, VHI was generated by a tactile display using a refreshable braille display (dot-matrix display). Since the dot-matrix display can provide various dot patterns through combinations of stimulus-pin protrusions, it can be applied to clarify the essential stimulus conditions for VHI through a series of psychophysical experiments. We expect to obtain the essential conditions for VHI, which will then become the fundamentals of the VHI model. In the psychophysical experiments, two parallel lines formed by the dot-matrix display were reciprocated on the subject's palm. First, we investigated the relationship between the interval of pins forming lines and the VHI strength. Second, we investigated the relationship between the length of two parallel lines and the strength of VHI. As a result, VHI hardly occurred when the interval between pins forming lines was more than a two-point threshold. Consequently, it was clarified that the sensation of touching a line is an essential condition for VHI and that line length of 29 mm is the absolute threshold of VHI.

    DOI: 10.1109/CIVEMSA.2018.8439948

    Scopus

    その他リンク: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85053135200&origin=inward

  • Vividness control of KI with variations in visual stimulus patterns 査読有り

    Komura H., Yoshida S., Shimura T., Honda M., Ohka M.

    MHS 2017 - 28th 2017 International Symposium on Micro-NanoMechatronics and Human Science   2018-January   1 - 3   2018年02月

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    担当区分:筆頭著者   記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)

    © 2017 IEEE. We develop a new rehabilitation device that combines the effects of two illusions: The kinesthetic illusion (KI) and the rubber hand illusion (RHI). We investigate whether KI can be reinforced with RHI where the former is caused by applying the oscillator's vibration to the flexor carpi radialis muscle (FCR) of a right hand. RHI is caused by showing moving images of a right hand overlapped on the subject's hand through a display pad. The illusion's vividness is induced in the right hand was represented by the left hand and measured by a rotary encoder, which can measure the joint angle of the flexion and the extension motion of the right wrist. We conducted experiments that quantitatively compared the KI strength that was reinforced by the visual stimulus with the pure KI strength, where the enhanced KI strength was about 1.4 to 1.5 times stronger than the unenhanced KI.

    DOI: 10.1109/MHS.2017.8305179

    Scopus

    その他リンク: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85050505765&origin=inward

  • Effects of active or passive touch on perception precision of edge direction using tactile mouse exhibiting convex dot-patterns on the palm 査読有り

    Komura H., Ohka M.

    Proceedings - 2017 IEEE 5th International Symposium on Robotics and Intelligent Sensors, IRIS 2017   2018-January   86 - 90   2018年01月

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    担当区分:筆頭著者   記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)

    © 2017 IEEE. We developed a tactile mouse that presents convex dot-patterns on a human palm to obtain the design parameters of haptic devices for virtual reality (VR). In a tactile VR study, we focused on the following issue, 'which tactile perception is superior, active or passive touch?', because it is related to the design of haptic devices that can present detailed information in tactile VR. This study evaluates the differences in perception precision between active and passive touch to clarify the best presentation method in VR through a series of psychophysical experiments using a tactile mouse. Since the presentation precision of virtual figures depends on the sharpness of the edges generated by dot-patterns, our experiment subjects evaluate the slope of the oblique edges. In a psychophysical experiment, two oblique edges of dot-patterns are presented consecutively and subjects compare them to determine which is larger. We evaluate the perception precision using the difference threshold of the edge angles calculated by the simplified constant stimuli method. Experimental results show that the perception precision at low speed (45 and 90 mm/s) of edge movement is better than at high speed (130 and 170 mm/s) and also that there is no significant difference between active and passive touching.

    DOI: 10.1109/IRIS.2017.8250103

    Scopus

    その他リンク: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85047351807&origin=inward

  • Informotion and tribology- Environmental information acquired by actuator-sensor networks through tribology 査読有り

    Ohka M., Komura H., Yano T.

    Toraibarojisuto/Journal of Japanese Society of Tribologists   63 ( 9 )   580 - 585   2018年01月

     詳細を見る

    記述言語:英語   掲載種別:研究論文(学術雑誌)

    © 2018 Japanese Society of Tribologists. All Rights Reserved. In this paper, to put this research in context, we first provide a brief survey of the internet of things (IoT) and IoT-like networks. We then introduce our new actuator-sensor network, which is capable of obtaining environmental information through actuator movement configurations which rely on tribological contact. We coin a new word "informotion" which integrates "information" and "motion" to express the abovementioned situation; networks composed of informotion elements are called informotion network systems (INS), the controls of which are based on bio-inspired rules. As an example of INS developed in our laboratory, we introduce an actuator array capable of controlling smooth tactile feeling using the velvet hand illusion. If we accumulate adequate successful findings related to feeling control generated by INS, in future work we will work to increase the ease or comfort for individuals manipulating mechanical or robotic systems by improving the smoothness of tactile feel.

    Scopus

    その他リンク: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85058211491&origin=inward

  • Brain activation measurement of velvet hand illusion using pocket NIRS 査読有り

    Ohka M., Mitsui Y., Komura H.

    ASME-JSME 2018 Joint International Conference on Information Storage and Processing Systems and Micromechatronics for Information and Precision Equipment, ISPS-MIPE 2018   2018年01月

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)

    Copyright © 2018 ASME. In this research, as a different approach to the conventional one which enhances the performance with hardware of a haptic device, we adopt another approach to make the brain feel as if the person is touching the real thing via an illusion. Thus, we study Velvet Hand Illusion (VHI) which is an illusionary phenomenon concerning tactile touch. In VHI, a hexagonal wire mesh is sandwiched between both hands and rubbing the wire mesh without relative motion between both hands generates a smooth feeling, like velvet. The brain activation at this time is measured by PocketNIRS, which contains two channels measuring the bilateral prefrontal cortex. We obtained the result that the prefrontal cortex was activated to roughly two times larger when VHI occurred than when touching real velvet fabric. Since different responses can be obtained in the prefrontal cortex during brain activation between real velvet and VHI, it is possible to use pocketNIRS for the evaluation of VHI.

    DOI: 10.1115/ISPS-MIPE2018-8540

    Scopus

    その他リンク: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85057219793&origin=inward

  • Research on a haptic device's capability to enhance the degree of kinesthetic illusion through vibro-and-visual stimulation 査読有り

    Komura H., Yoshida S., Kato Y., Shimura T., Honda M., Ohka M.

    Proceedings of the International Display Workshops   1   80 - 83   2017年01月

     詳細を見る

    担当区分:筆頭著者   記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)

    © 2017 Proceedings of the International Display Workshops. All rights reserved. A kinesthetic illusion (Kl) is a psychological phenomenon caused by applying appropriate vibration to a specific tendon through the skin. This vibration causes a person to perceive that his joint is moving, even if there is actually no movement. In this study, we investigate how rubber hand illusion (RHI) effect increases the degree of Kl by stimulating the right wrist flexor group of human subjects to cause Kl and RHI in a series of psychophysical experiments. Since the optimum sight stimulation of RHI induces Kl, we use the maximum extension angle and the speed of the wrist movies to investigate the RHI influence on Kl using a paired comparison method. Since a significant difference was observed in the Kl degree rated by subjects if the movie of the extended wrist was presented to subjects, the visual stimulus reinforces the kinematic illusion.

    Scopus

    その他リンク: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85056268906&origin=inward

  • Tactile mouse generating velvet hand illusion on human palm 査読有り 国際誌

    Rajaei N., Ohka M., Nomura H., Komura H., Matsushita S., Miyaoka T.

    International Journal of Advanced Robotic Systems   13 ( 5 )   1 - 10   2016年09月

     詳細を見る

    記述言語:英語   掲載種別:研究論文(学術雑誌)

    © SAGE Publications Ltd, unless otherwise noted. Manuscript content on this site is licensed under Creative Commons Licenses. To enhance virtual reality (VR) generated by tactile displays, we have focused on a novel tactile illusion, called the Velvet Hand Illusion (VHI). In VHI, moving two parallel wires back and forth between the two hands leads humans to perceive a velvet-like surface between their hands. In earlier studies, we revealed that the intensity of VHI could be controlled by a ratio (r/D), where r and D are the wire stroke and wire distance, respectively. According to these findings, we investigate in this study whether a common tactile display is able to produce VHI, and whether the ratio can also control VHI intensity. We prepare a dot-matrix display as a tactile display in which moving one line of the display's pins is considered as a wire pattern. We investigate the VHI intensity with regard to changing the stroke r and the line distance D using paired comparison. Experimental results show that the VHI intensity is increased or decreased by changing r and D. We conclude that VHI can be created by the tactile display, and the intensity of VHI is controlled by changing the ratio of r/D.

    DOI: 10.1177/1729881416658170

    Scopus

    その他リンク: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84993953544&origin=inward

▼全件表示

口頭発表・ポスター発表等

  • 指の3次元形状を考慮した爪色触覚センサ

    吉良義晃, 小村啓,陳彦東,大屋勝敬,大岡昌博

    日本機械学会 2023年度年次大会 

     詳細を見る

    開催期間: 2023年09月04日 - 2023年09月06日   記述言語:日本語   開催地:東京都立大学   国名:日本国  

  • 触覚の記録再生システムのための三軸触覚センサ

    齊藤 詢也,小村 啓,大岡 昌博

    日本機械学会 2023年度年次大会 

     詳細を見る

    開催期間: 2023年09月04日 - 2023年09月06日   記述言語:日本語   開催地:東京都立大学   国名:日本国  

  • 腱振動刺激によって生起する運動錯覚制御のためのHMDによる視覚フィードバックシステムの開発

    小村啓,大岡昌博

    日本機械学会 2023年度年次大会 

     詳細を見る

    開催期間: 2023年09月04日 - 2023年09月06日   記述言語:日本語  

  • 爪色触覚センサによる指の姿勢と指先 力の同時推定

    小村 啓, 陳 彦東, 大岡 昌博

    IIP情報・知能・精密機器部門講演会 

     詳細を見る

    開催期間: 2023年03月06日 - 2023年03月07日   記述言語:日本語  

  • 太さの異なる二本の棒が生み出すGestaltにより惹起されるベルベット錯触

    礒貝 透也, 小村 啓, 大岡 昌博

    IIP情報・知能・精密機器部門講演会 

     詳細を見る

    開催期間: 2023年03月06日 - 2023年03月07日   記述言語:日本語  

  • Development of Robust Braking Controller for Autonomous Vehicles to Achieve Any Ride Comfort Performance Without Using Wheel Velocity

    Hiraku Komura, Masahiro Oya

    AROB 2023, 28th International Symposium on Artificial Life and Robotics 

     詳細を見る

    開催期間: 2023年01月25日 - 2023年01月27日   記述言語:英語   開催地:Online  

  • Development of Tactile Display for Measuring Human Dexterity

    Hiraku komura, Takumi Takeshige, Masahiro Ohka

    IDW '22 - 29th International Display Workshops 

     詳細を見る

    開催期間: 2022年12月14日 - 2022年12月16日   記述言語:英語   国名:日本国  

  • Precision Differences among Three CNN Models of a Three-axis Fingernail-color Sensor

    Y. Chen, K. Watanabe, H. Komura, M. Ohka

    2022 JSME-IIP / ASME-ISPS Joint International Conference on Micromechatronics for Information and Precision Equipment 

     詳細を見る

    開催期間: 2022年08月28日 - 2022年08月31日   記述言語:英語  

  • Development of the Control Method of Kinesthetic Illusion Considering Physical Information towards AI-based Rehabilitation

    H.Komura, M. Ohka

    2022 JSME-IIP / ASME-ISPS Joint International Conference on Micromechatronics for Information and Precision Equipment 

     詳細を見る

    開催期間: 2022年08月28日 - 2022年08月31日   記述言語:英語   開催地:Nagoya University  

  • LABNIRS によるVHI 感と脳賦活の関係の調査

    小村 啓, 山下 恭平, 大岡 昌博

    IIP情報・知能・精密機器部門講演会  2022年03月 

     詳細を見る

    開催期間: 2022年03月07日 - 2022年03月08日   記述言語:英語   開催地:オンライン  

  • ウェアラブルデバイスによる皮膚・スティッ クウサギ錯覚の生起

    武重 拓実,小村 啓, 大岡 昌博

    IIP情報・知能・精密機器部門講演会  2022年03月 

     詳細を見る

    開催期間: 2022年03月07日 - 2022年03月08日   記述言語:英語   開催地:オンライン  

  • CNN 援用爪色三軸触覚センサのせん断荷重方向の検出精度

    陳 彦東,渡邉 圭介,小村 啓,大岡 昌博

    IIP情報・知能・精密機器部門講演会  2022年03月 

     詳細を見る

    開催期間: 2022年03月07日 - 2022年03月08日   記述言語:英語   開催地:オンライン   国名:日本国  

  • Development of Robust Braking Controller for Autonomous Vehicles to Achieve Any Ride Comfort Performance

    Hiraku Komura, Masahiro Oya

    27th International Symposium on Artificial Life and Robotics   2022年01月 

     詳細を見る

    開催期間: 2022年01月25日 - 2022年01月27日   記述言語:英語   開催地:Online   国名:日本国  

  • 熱刺激と触錯覚現象を用いた触覚ディスプレイの開発

    小村 啓, 大岡 昌博

    日本機械学会 2021年度年次大会 

     詳細を見る

    開催期間: 2021年09月08日   記述言語:日本語  

  • 心地よさを生起するHapticデバイス開発に向けた触覚のGestaltの定式化

    小村 啓, 矢崎 武瑠,大岡 昌博

    IIP2021 情報・知能・精密機器部門(IIP部門)講演会 

     詳細を見る

    開催期間: 2021年03月08日   記述言語:日本語  

  • Effects of body composition on kinesthetic illusion in elbow joints towards rehabilitation robotics

    Hiraku Komura, Takeshi Nozawa, Masakazu Honda, Masahiro Ohka

    26th International Symposium on Artificial Life and Robotics 

     詳細を見る

    開催期間: 2021年01月21日   記述言語:英語  

  • Enhancement Process of Kinesthetic Illusion Caused by Stimuli of Vibrations and Movies

    Tetsuya Hanai, Hiraku Komura, Masakazu Honda, Masahiro Ohka

    The 27th International Display Workshops 

     詳細を見る

    開催期間: 2020年12月   記述言語:英語  

  • 手首関節の運動錯覚に及ぼす筋腱の緊張状態の影響

    小村 啓, 久保 拓夢, 本多正計, 大岡 昌博

    第25回バーチャルリアリティ学会大会 

     詳細を見る

    開催期間: 2020年09月16日   記述言語:日本語  

  • 滑らかさを惹起する触錯覚現象の機序解明に向けた基礎調査

    望月 朋哉, 小村 啓, 大岡 昌博

    日本機械学会 2020年度年次大会 

     詳細を見る

    開催期間: 2020年09月14日   記述言語:日本語  

  • 振動・動画刺激によって生起される運動錯覚現象の強化過程

    花井 哲哉, 小村 啓, 本多 正計, 大岡 昌博

    日本機械学会 2020年度年次大会 

     詳細を見る

    開催期間: 2020年09月14日   記述言語:日本語  

  • Elucidation of Velvet Hand Illusion using LABNIRS toward a New Haptic Display

    Hiraku Komura, Hiroaki Kosugi, Masahiro Ohka

    2019 International Symposium on Micro-Nano Mechatronics and Human Science 

     詳細を見る

    開催期間: 2019年12月   記述言語:英語  

  • Control method of kinesthetic illusion using natural frequency of tendon toward compact rehabilitation devices

    Hiraku Komura, Kei Ikeda, Masakazu Honda, Masahiro Ohka

    2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics 

     詳細を見る

    開催期間: 2019年07月   記述言語:英語  

  • Combined Effect of Kinesthetic Illusion and Rubber Hand Illusion

    Hiraku Komura, Tomoki Shimura, Masakazu Honda, Masahiro Ohka

    The 8th International Conference on Manufacturing, Machine Design and Tribology 

     詳細を見る

    開催期間: 2019年04月25日   記述言語:英語  

  • Formulation of Tactile Gestalt to Express Variation in Velvet Hand Illusion Caused by Out-of-Phase Cycles of Two Wires

    Masahiro Ohka, Hiraku Komura, Toshiki Nakamura

    The 8th International Conference on Manufacturing, Machine Design and Tribology 

     詳細を見る

    開催期間: 2019年04月25日   記述言語:英語  

  • The Effects of Tactile Gestalt on Generating Velvet Hand Illusion

    Hiraku Komura, Masaihro Ohka

    IEEE VR 2019 

     詳細を見る

    開催期間: 2019年03月27日   記述言語:英語  

  • Brain Activation Measurement of Velvet Hand Illusion Using Pocket NIRS

    Masahiro Ohka, Yusuke Mitsui, Hiraku Komura

    ASME-JSME 2018 Joint International Conference on Information Storage and Processing Systems and Micromechatronics for Information and Precision Equipment 

     詳細を見る

    開催期間: 2018年08月30日   記述言語:英語  

  • Stimulation Conditions to Generate Velvet Hand Illusion Through a Dot-matrix Display

    Hiraku Komura, Masaihro Ohka

    2018 IEEE International Conference on Computational Intelligence & Virtual Environments for Measurement Systems and Applications 

     詳細を見る

    開催期間: 2018年06月12日   記述言語:英語  

▼全件表示

学術関係受賞

  • ベストプレゼンテーション

    日本機械学会情報・知能・精密機器部門(IIP部門)   心地よさを生起する Hapticデバイス開発に向けた触覚の Gestaltの定式化   2022年03月07日

    小村啓, 矢崎武瑠,大岡昌博

     詳細を見る

    受賞国:日本国

  • Best Paper Award, IEEE MHS 2019

    名古屋大学   Elucidation of Velvet Hand Illusion using LABNIRS toward a New Haptic Display   2019年12月04日

    Hiraku Komura, Hiroaki Kosugi, Masahiro Ohka

     詳細を見る

    受賞国:日本国

科研費獲得実績

  • VRの変革を生み出す新しい統一触覚理論の創成-触覚と温・痛覚のGestalt

    研究課題番号:22K19791  2022年04月 - 2025年03月   挑戦的研究(萌芽)

  • 触譜に基づく触覚情報の記録・再生システムによる感情制御

    研究課題番号:22H01444  2022年04月 - 2025年03月   基盤研究(B)

     詳細を見る

    本研究では、触覚データの記録・再生により巧みな人の技をロボットに移植するとともに、記録に触譜を用いてロボットの人への心地よい関わりを実現する。すなわち、1)触覚の時系列データに基づき熟達者の力加減を触譜により記録再生する。2)熟達者の触覚情報収集のために爪色三軸触覚センサと指型三軸触覚センサを開発してデータ収集・再生法を確立する。3)環境に適応するよう制御特性を変化するTacit Learning(TL)と触譜を組み合わせ、心地よく感じられるようにするTL-触譜連携制御法を開発する。4)心理効果は和音とメロディで操り得るとして、快・不快の制御に必要な触覚条件と心理状態の関係を明らかにする。

  • 時々刻々と変化するヒトの身体に適応した運動錯覚制御手法に関する研究

    研究課題番号:22K14225  2022年04月 - 2024年03月   若手研究

     詳細を見る

    近年の研究で,運動錯覚(腱・筋肉に振動を与えると深部感覚(身体が動いた感覚)が生起する錯覚現象)において,脳回路の形成に効果があることが脳機能計測で示され,リハビリ分野への応用が期待され始めている.我々は過去の研究で,リハビリで行う巧緻運動の感覚を運動錯覚で生起させる技術の研究開発を進めてきたが,外部刺激によって腱・筋の剛性が容易に変化してしまい,安定した錯覚を生起することが難しいという問題があった.そこで本研究では,人の腱・筋の物理特性を計測し,振動刺激だけでなく筋・腱の状態(緊張や弛緩)も同時に制御に組み込むことで,巧緻運動のような繊細な運動感覚を錯覚現象によって実現することを試みる.

  • 触覚のGestaltの生成・崩壊を利用した材質感提示技術の開発

    研究課題番号:20K23346  2020年04月 - 2023年03月   研究活動スタート支援

その他競争的資金獲得実績

  • 革新的リハビリテーション実現に向けた運動錯覚制御法の開発

    2023年04月 - 2024年03月

    公益財団法人 スズキ財団 2022年度 科学技術研究助成 募集要項  

  • 触覚情報の記録・再生システム実現に向けたセン サ技術開発

    2022年10月 - 2023年09月

    公益財団法人 三菱財団  

  • Gestalt理論に基づいた触覚の情報化とHapticデバイスへの応用

    2021年01月 - 2022年10月

    公益財団法人 栢森情報科学振興財団  

担当授業科目(学内)

  • 2023年度   制御工学PBLⅢ

  • 2023年度   制御工学PBLⅡ

  • 2023年度   制御工学PBLⅠ

  • 2023年度   知能制御応用

  • 2023年度   制御系構成論Ⅰ演習

  • 2022年度   制御工学PBLⅠ

  • 2022年度   制御工学PBLⅡ

  • 2022年度   制御工学PBLⅢ

  • 2021年度   制御工学PBLⅢ

  • 2021年度   制御工学PBLⅡ

  • 2021年度   制御工学PBLⅠ

  • 2020年度   制御工学PBLⅢ

  • 2020年度   制御工学PBLⅡ

  • 2020年度   制御工学PBLⅠ

▼全件表示

学会・委員会等活動

  • 日本機械学会 情報・知能・精密機器部門   学術委員  

    2023年04月 - 現在

  • 日本ロボット学会会誌編集委員会   委員  

    2023年04月 - 現在

  • アクチュエータシステム技術企画委員会   委員  

    2021年04月 - 現在

  • 計測自動制御学会 システムインテグレーション(SI)部門, 触覚部会   委員