情報処理学会 インタラクション 2019
IPSJ Interaction 2019

1B-48
2019/3/6௬᝿≀య࡬ࡢ᥋ゐឤࢆ㧗ࡵࡿඛ➃ఙ⦰ᆺࢹࣂ࢖ࢫࡢヨస∦ᒸᩗᚿ㑻†1 ᒣᮏᣅஓ†2 ኱ᵳ㯞⾰†3 ᰘ⏣ྐஂ†1 ᮌᮧᮅᏊ†1
ᴫ せ㸸VR㸦Virtual reality; ேᕤ⌧ᐇ㸧✵㛫࡛ࡣ㸪ᐇୡ⏺࡜ྠᵝࡢືࡁ࡛ࣔࢹࣜࣥࢢࡸ࣌࢖ࣥࢸ࢕ࣥࢢ࡜࠸ࡗࡓసᴗࢆ⾜࠺ࡇ࡜ࡀ࡛ࡁࡿ㸬ࡋ࠿ࡋ㸪VR ✵㛫࡛ࡣどぬ᝟ሗ࡟ẚ࡭࡚㸪ゐぬ᝟ሗࡢ෌⌧ࡀ༑ศ࡛ࡣ࡞࠸㸬ࡑࡢࡓࡵ㸪ᐇୡ⏺࡜VR ✵㛫ෆ࡛ឤぬࡢࡎࢀࡀ⏕ࡌ㸪ᐇୡ⏺࡛ࡢ⤒㦂ࢆά࠿ࡋ࡚ VR ✵㛫ෆ࡛సᴗࢆ⾜࠺ࡇ࡜ࡣ㞴ࡋ࠸㸬ࡑࡇ࡛㸪ᮏ◊✲࡛ࡣ㸪≀యࡢᙧ≧ㄆ㆑࡟ᚲせ࡞཯ຊࢆᥦ♧ࡍࡿᡭἲࡢᥦ᱌࡜ࡑࡢᡭἲࢆᐇ⌧ࡍࡿࡓࡵࡢࢹࣂ࢖ࢫࡢ㛤Ⓨࢆ⾜࠺㸬

1. ࡣࡌࡵ࡟ VR㸦Virtual reality; ேᕤ⌧ᐇ㸧✵㛫ෆ࡛ࡣ௬᝿ࡢ 3D ࣔࢹࣝࢆసᡂࡋࡓࡾ㸪ࡑࢀ࡟ᑐࡋ࡚࣌࢖ࣥࢺ࡞࡝ࡢసᴗࢆ⾜࠺ࡇ࡜ࡀ࡛ࡁࡿ㸬ࡇ࠺ࡋࡓసᴗ࡟฼⏝ࡉࢀࡿࢹࣂ࢖ࢫ࡜ࡋ࡚㸪HTC ♫ࡸ Oculus ♫࡞࡝ࡀᥦ౪ࡋ࡚࠸ࡿ VR ࢥࣥࢺ࣮ࣟࣛࡀᣲࡆࡽࢀࡿ㸬ࡇࢀࡽࡣᡭࡢ఩⨨ࡢࢺࣛࢵ࢟ࣥࢢ࡜᣺ືࣇ࢕࣮ࢻࣂࢵࢡ࡟ࡼࡗ࡚௬᝿≀య࡟ゐࢀࡓ࡜࠸࠺ࡇ࡜ࢆ࣮ࣘࢨ࡟ᥦ♧ࡍࡿ㸬ࡋ࠿ࡋ㸪᣺ືࡢࡳ࡛ࡣᐇ㝿ࡢ≀య࡟ゐࢀࡓ㝿࡟⏕ࡌࡿ཯ຊࡣ෌⌧࡛ࡁࡎ㸪௬᝿≀య࡜ࡢ᥋ゐឤࢆᥦ♧ࡍࡿࡇ࡜ࡣ㞴ࡋ࠸㸬ࡇࡢࡼ࠺࡟㸪ᐇୡ⏺࡜ VR ✵㛫ࡢឤぬࡢࡎࢀࡀ VR ✵㛫࡛ࡢసᴗࡢ㞴ࡋࡉ࡟ࡘ࡞ࡀࡗ࡚࠸ࡿ㸬ᅗ 㻝 ඛ➃ఙ⦰ᶵᵓࢆ᭷ࡍࡿࢹࣂ࢖ࢫࢆ⏝࠸ࡓ᥋ゐឤᥦ♧ࡇࡢࡼ࠺࡞ၥ㢟ࢆゎỴࡍࡿࡓࡵ࡟㸪ࡇࢀࡲ࡛௬᝿≀య࡬
ࡢ᥋ゐឤࢆᥦ♧ࡍࡿᵝࠎ࡞◊✲ࡀ⾜ࢃࢀ࡚ࡁࡓ㸬౛࠼ࡤ㸪࡟௬᝿≀య࡬ࡢ᥋ゐឤࢆᥦ♧ࡍࡿࡓࡵ࡟㸪ᐇୡ⏺࡟࠾ࡅࡿ㸪ຊぬᥦ♧⿦⨨࡛࠶ࡿ PHANToM[1]ࢆ⏝࠸ࡿ᪉ἲࡀᣲࡆࡽࢀࢹࣂ࢖ࢫ࡜ᮘࡸቨ࡞࡝ࡢᐇ≀యࡢ㛫࡟⏕ࡌࡿ཯ຊࢆ VR ✵

ࡿ[2][3]㸬PHANToM ࡣࣟ࣎ࢵࢺ࢔࣮࣒࡟ࡼࡗ࡚࣌ࣥᆺࡢࢹ㛫࡟࠾ࡅࡿ௬᝿≀య࠿ࡽࡢ཯ຊ࡜ࡋ࡚฼⏝ࡍࡿ㸬ලయⓗ࡟ࣂ࢖ࢫࡢືࡁࢆไᚚࡍࡿࡇ࡜࡛ຊぬࢆᥦ♧ࡍࡿࡀ㸪⿦⨨ࡢࡣ㸪௬᝿✵㛫࡛ࢹࣂ࢖ࢫ࡜௬᝿≀యࡀ᥋ゐࡋࡓ㝿࡟㸪ᐇୡࢧ࢖ࢬࡀ኱ࡁࡃ㸪ᐜ᫆࡟ື࠿ࡏ࡞࠸ࡓࡵ㸪࣮ࣘࢨࡢసᴗ⠊⏺࡛ࡣᐇ≀య࡜᥋ゐࡍࡿࡼ࠺࡟ࢹࣂ࢖ࢫඛ➃㒊ศࢆఙ⦰ࡉᅖࡀ࢔࣮࣒ࡢྍື㡿ᇦ࡟㝈ᐃࡉࢀ࡚ࡋࡲ࠺㸬ࡲࡓ㸪Kamuroࡏࡿࡇ࡜࡛཯ຊࢆᥦ♧ࡍࡿ㸦ᅗ 1㸧㸬ࡇࡢ࡜ࡁఙ⦰ࡉࡏࡿ㊥ࡽ[4]ࡣ㸪௬᝿≀యࡢ⾲㠃ࢆᢲࡋ㎸ࡴ࣭࡞ࡒࡿືస࡟ᛂࡌ࡚㸪㞳ࡣ㸪VR ✵㛫ෆࡢࢹࣂ࢖ࢫඛ➃㒊ศ࠿ࡽࢹࣂ࢖ࢫࡢ᪉ྥᣢࡕᡭࢆ✌ാࡉࡏ㸪ᣦඛ࡟ຊぬࢆᥦ♧ࡍࡿຊぬࢹ࢕ࢫࣉࣞ࣋ࢡࢺࣝ࡜ᆅ㠃ࡲ࡛ࡢ᥋ゐⅬࡲ࡛ࡢ㛗ࡉ࡜ࡍࡿ㸦ᅗ 㻞㸧㸬ࡇ࢖ࢆᥦ᱌ࡋ࡚࠸ࡿ㸬ࡇࡢࢹࣂ࢖ࢫࡣ࣮ࣘࢨࡢືࡁࢆไ㝈ࡍࢀ࡟ࡼࡾ㸪ࢹࣂ࢖ࢫࢆ௬᝿≀య࡟᥋ゐࡉࡏࡓ࡜ࡁ㸪ࢹࣂ࢖ࡿࡇ࡜࡞ࡃ཯ຊࢆᥦ♧࡛ࡁࡿࡀ㸪ᥦ♧⟠ᡤࡣࢹࣂ࢖ࢫ࡜ᣦࢫ࡜ᐇ≀య㛫ࡢ཯ຊࡀ௬᝿≀యࡢ᥋ゐឤ࡜ࡋ࡚ᥦ♧ࡉࢀࡿ㸬

࡜ࡢ᥋ゐ఩⨨ࡢࡳ࡟␃ࡲࡾ㸪⭎඲య࡛཯ຊࢆ▱ぬࡍࡿࡇ࡜௬᝿✵㛫ෆ࡛どㄆࡋ࡚࠸ࡿࢹࣂ࢖ࢫ࡜௬᝿≀యࡢ᥋ゐࡣ࡛ࡁ࡞࠸㸬ࡑࡇ࡛㸪ᮏ◊✲࡛ࡣ㸪࣮ࣘࢨࡢືࡁࢆ࡛ࡁࡿࡔࡅไ㝈ࡏࡎ࡟௬᝿≀య࡜ࡢ᥋ゐឤࢆ⭎඲య࡟ᥦ♧ྍ⬟࡞ᡭἲࢆᥦ᱌ࡋ㸪ࢹࣂ࢖ࢫࢆヨసࡋࡓ㸦ᅗ 㻝㸧㸬

2. ཯ຊࢆ⏝࠸ࡓ᥋ゐឤᥦ♧ᡭἲᥦ᱌ᡭἲ࡛ࡣ㸪࣮ࣘࢨࡢືస⠊ᅖࢆ࡛ࡁࡿࡔࡅไ㝈ࡏࡎ఩⨨ࡢྜ⮴࡟ຍ࠼㸪ᥦ᱌ᡭἲ࡟ࡼࡿ᥋ゐឤࢆᥦ♧ࡍࡿࡇ࡜࡛㸪௬᝿≀యࡢ⾲㠃ᙧ≧ࢆṇࡋࡃㄆ㆑࡛ࡁ㸪ᐇୡ⏺࡜ VR✵㛫ෆࡢឤぬࡢࡎࢀࢆ㍍ῶ࡛ࡁࡿ࡜⪃࠼ࡽࢀࡿ㸬ࡲࡓ㸪ᮏᡭἲ࡛ࡣ㸪ࢹࣂ࢖ࢫ࡜ᐇ≀య࡜ࡢ᥋ゐࡣࢹࣂ࢖ࢫඛ➃㒊ࡢ୍Ⅼࡢࡳ࡜࡞ࡗ࡚࠸ࡿ㸬ࡇࡢ᥋ゐⅬࡣࢹࣂ࢖ࢫࢆື࠿ࡍࡇ࡜࡛⛣ື࡛ࡁࡿࡓࡵ㸪኱ᆺࡢᶵჾ࡟᥋⥆ࡍࡿᚲせࡀ࡞ࡃ㸪࣮ࣘࢨࡢືࡁࢆไ㝈ࡏࡎ࡟௬᝿≀య࡜ࡢ᥋ゐឤࢆᥦ♧ࡍࡿࡇ࡜ࡀ࡛ࡁࡿ㸬ࡲࡓ㸪௬᝿≀యࢆ࡞ࡒࡿືస࡟

†1 ❧࿨㤋኱Ꮫ ᝟ሗ⌮ᕤᏛ㒊College of Information Science and Engineering,
Ritsumeikan University†2 ❧࿨㤋኱Ꮫ㝔 ᝟ሗ⌮ᕤᏛ◊✲⛉Graduate School of Information Science and Engineering,
Ritsumeikan University†3 ⟃Ἴ኱Ꮫ ࢩࢫࢸ࣒᝟ሗ⣔  Faculty of Engineering, Information and System,
University of Tsukuba© 2019 Information Processing Society of Japanྜࢃࡏ࡚ඛ➃㒊ࢆ㐃⥆ⓗ࡟ఙ⦰ࡉࡏࡿࡇ࡜࡛㸪ᖖ࡟௬᝿≀యࡢ⾲㠃࠿ࡽࡢ᥋ゐឤࢆ࣮ࣘࢨ࡟ᥦ♧ࡍࡿࡇ࡜ࡀ࡛ࡁࡿ㸬ࡇࢀ࡟ࡼࡾ㸪௬᝿≀య⾲㠃ࡢᙧ≧ㄆ㆑⢭ᗘࢆࡼࡾ㧗ࡵ㸪VR✵㛫ෆࡢឤぬࢆࡉࡽ࡟ᐇୡ⏺ࡢࡶࡢ࡬࡜㏆࡙ࡅࡿࡇ࡜ࡀ࡛ࡁࡿ㸬377情報処理学会 インタラクション 2019
IPSJ Interaction 2019

1B-48
2019/3/6

ᅗ 㻞 ఙ⦰㊥㞳ࡢ⟬ฟ

3. ᐇ⿦
3.1 ࢩࢫࢸ࣒ᵓᡂᥦ᱌ᡭἲ࡟ᇶ࡙ࡁ㸪స〇ࡋࡓࢹࣂ࢖ࢫࢆᅗ 㻟 䛻♧ࡍ㸬VR✵㛫ෆ࡟࠾ࡅࡿࢹࣂ࢖ࢫࡢ఩⨨ࢆྲྀᚓࡍࡿࡓࡵ࡟ OculusTouch ࢆ౑⏝ࡋ࡚࠸ࡿ㸬ࢹࣂ࢖ࢫࡢఙ⦰㒊ศ࡟ࡘ࠸࡚ࡣ㸪ᅗ 㻟 ඛ➃ఙ⦰ᶵᵓࢆ᭷ࡍࡿࢹࣂ࢖ࢫ
㏿ᗘࢆୗࡆࡿࡇ࡜࡛࣮ࣔࢱࢆ௬᝿≀య⾲㠃࡟ᢲࡋ␃ࡵࡓ≧ែ࡛࡞ࡒࡿࡇ࡜ࡀ࡛ࡁࡿ㸬⌧ᅾࡢࣇ࣮࣒࡛ࣞࡢ࣮ࣔࢱࡢᅇ
㌿㏿ᗘ v ࡣḟᘧ(1)㸪(2)࡟ࡼࡗ࡚Ỵᐃࡍࡿ㸬ࣜࢽ࢔࢔ࢡࢳ࢚࣮ࣗࢱ㸦Alps ♫〇㸪࣮ࣔࢱ N ࣇ࢙࣮ࢲ㸪=∙+ (1 − ) ∙

(1)

=(2)

RS60N11M9A0E㸧࡟ 3D ࣉࣜࣥࢱ࡛స〇ࡋࡓ࣌ࣥ≧ࡢඛ➃㒊࡜ඛ➃㒊ࢆそ࠺࢝ࣂ࣮ࢆྲྀࡾ௜ࡅ࡚࠸ࡿ㸬౑⏝ࡋ࡚࠸ࡿ࢔ࢡࢳ࢚࣮ࣗࢱࡣྍືᇦࡀ 10cm ࡛㸪1024 ẁ㝵࡛఩⨨ࢆᣦᐃࡍࡿࡇ࡜ࡀ࡛ࡁ㸪㏿ᗘࢆ 256 ẁ㝵࡛ኚ᭦࡛ࡁࡿ㸬ᥦ♧࡛ࡀ࣮ࣔࢱࡢ᭱㧗㏿ᗘ㸪ࡁࡿ཯ຊࡣ㸪ඛ➃㒊ࢆ೵Ṇࡉࡏࡿຊࡀ᭱኱ 100N㸪ᢲࡋᘬࡁࡍࡿຊࡀ᭱኱ 50N ࡜࡞ࡗ࡚࠸ࡿ㸬ඛ➃㒊ࡢ㥑ືࢱ࢖࣑ࣥࢢ㒊ศࡢ᭱኱ࡢ㛗ࡉࢆ࡜೵Ṇ఩⨨ࡢไᚚࡣ Arduino ࡛⾜ࡗ࡚࠾ࡾ㸪VR ✵㛫ෆ࡟㓄

4. ࠾ࢃࡾ࡟⨨ࡉࢀ࡚࠸ࡿ௬᝿≀య࡜ࢹࣂ࢖ࢫࡢ᥋ゐ఩⨨࡟ᇶ࡙࠸࡚ඛ➃㒊ࢆ๓ᚋ࡟㥑ືࡉࡏ㸪ఙ⦰ࢆᐇ⌧ࡋ࡚࠸ࡿ㸬ࡀ᭱ప㏿ᗘ㸪ࢹࣂ࢖ࢫඛ➃㸪ఙ⦰㊥㞳ࢆ d ࡜ࡍࡿ㸬ᮏ◊✲࡛ࡣ㸪VR ✵㛫ෆࡢ௬᝿≀య࡜ࢹࣂ࢖ࢫࡢ᥋ゐឤࢹࣂ࢖ࢫࡢไᚚ࠾ࡼࡧ VR ✵㛫ᥥ⏬⏝ PC ࡣ CPU Intelࢆᥦ♧ࡍࡿᡭἲࢆᥦ᱌ࡋࡓ㸬ලయⓗ࡟ࡣ㸪VR ✵㛫ෆ࡛௬

Core i5-8400㸪࣓ࣔࣜ 16GB㸪GPU NVIDIA GeForce GTX1080

᝿≀య࡜ࢹࣂ࢖ࢫࡀ᥋ゐࡋࡓ㝿࡟㸪ᐇୡ⏺ࡢࢹࣂ࢖ࢫඛ➃TI / 11GB GDDR5X ࢆᦚ㍕ࡋࡓ Windows 10 pro PC ࢆ౑⏝㒊ࢆఙ⦰ࡉࡏ㸪ᐇୡ⏺࡟㓄⨨ࡉࢀ࡚࠸ࡿᐇ≀య࡜᥋ゐࡉࡏࡋࡓ㸬VR ✵㛫ࡢᵓ⠏࡟ࡣ Unity ver. 5.6.2f1 (64bit)㸪VR ✵ࡿࡇ࡜࡛㸪ᐇ㝿ࡢ཯ຊࢆ௬᝿≀య࡜ࡢ᥋ゐឤ࡜ࡋ࡚ᥦ♧ࡋ㛫ࡢほᐹ࡟ࡣ Oculus Rift CV 1 ࢆ⏝࠸ࡓ㸬VR ✵㛫ࡢᥦ♧࠾ࡓ㸬ࡲࡓ㸪ࡇࡢᡭἲࢆᐇ⌧ࡍࡿࡓࡵ࡟ඛ➃ࡀఙ⦰ࡍࡿᶵᵓ

ࡼࡧఙ⦰㊥㞳ࡢ⟬ฟ㸪ࢹࣂ࢖ࢫඛ➃㒊ࡢ㥑ືࡣẖ⛊ 90 ࣇࣞࢆ᭷ࡋࡓࢹࣂ࢖ࢫࢆヨసࡋࡓ㸬ᥦ᱌ᡭἲࢆ⏝࠸ࡿࡇ࡜࡛㸪࣮࣒࡛⾜ࡗ࡚࠸ࡿ㸬
3.2 ࢹࣂ࢖ࢫඛ➃㒊ศࡢఙ⦰ไᚚࣔࢹࣝᮏᡭἲ࡛ࡣ㸪ࢹࣂ࢖ࢫඛ➃㒊ศࢆఙ⦰ࡉࡏ࡚௬᝿≀య࡜ࡢ཯ຊࢆ⾲⌧ࡍࡿࡓࡵ㸪௬᝿≀య⾲㠃࡛ࢹࣂ࢖ࢫࡢఙ⦰㒊ศࢆᢲࡋ␃ࡵࡿᚲせࡀ࠶ࡿ㸬ࡉࡽ࡟㸪௬᝿≀యࢆୗྥࡁ࡟࡞ࡒࢁ࠺࡜ࡍࡿሙྜ࡟ࡣࢹࣂ࢖ࢫࡢࡵࡾࡇࡳࢆ㜵ࡄࡓࡵ࡟㸪VR ✵㛫ෆ࡛࣌࢖ࣥࢺࡸࣔࢹࣜࣥࢢ࡜࠸ࡗࡓసᴗࢆ⾜࠺㝿࡟㸪ᐇ㝿࡜ྠࡌࡼ࠺࡞᥋ゐឤࡀᚓࡽࢀࡿࡓࡵ㸪ᐇୡ⏺࡜ྠ➼ࡢឤぬ࡛సᴗࢆ⾜࠺ࡇ࡜ࡀ࡛ࡁࡿࡼ࠺࡟࡞ࡿ࡜⪃࠼࡚࠸ࡿ㸬௒ᚋࡣ㸪᣺ືࢆ⏝࠸ࡓ௬᝿≀యࡢᮦ㉁ࡢ㐪࠸ࡸ཯ຊࢆㄪ⠇ࡍࡿࡇ࡜࡟ࡼࡿ◳㌾ឤࢆ⾲⌧ࡍࡿࡇ࡜࡛㸪ࡼࡾࣜ࢔ࣜࢸ࢕ࡢ࠶ࡿ᥋ゐឤࡢᥦ♧ࢆ┠ᣦࡍ㸬⦰ࡴ࣭ᢲࡋ␃ࡵࡿ࡜࠸࠺ືసࢆ⧞ࡾ㏉ࡋ㸪௬᝿≀య⾲㠃࡟ཧ⪃ᩥ⊩ἢ࠺ࡼ࠺࡟ࢹࣂ࢖ࢫඛ➃㒊ศࢆື࠿ࡍࡇ࡜࡛࣮ࣘࢨࡣ௬᝿

[1]≀యࡢṇ☜࡞ᙧ≧ࢆㄆ㆑࡛ࡁࡿ㸬ࡋ࠿ࡋ㸪ᙉࡃᢲࡋ␃ࡵࡿ㸦ඛ➃㒊ᅛᐃ㸧㸪ᢲࡋ㏉ࡍ㸦ඛ➃㒊㥑ື㸧࡜࠸ࡗࡓືసࡀ㐃⥆ࡋ࡚㉳ࡁࡿ࡜ᚲせ௨ୖ࡟ᙉ࠸཯ຊࡀ࣮ࣘࢨ࡟ᥦ♧ࡉࢀ㸪⁥ࡽ࠿࡞௬᝿≀యࢆ࡞ࡒࡗ࡚࠸࡚ࡶ㸪㉳అࡢ࠶ࡿᙧ≧ࢆ࡞ࡒࡗ࡚࠸ࡿࡼ࠺࡟ឤࡌ࡚ࡋࡲ࠺㸬ࡑࡇ࡛㸪ఙ⦰㊥㞳 d ࡟ᛂࡌ࡚࣮ࣔࢱࡢᅇ㌿㏿ᗘ v ࢆ⁥ࡽ࠿࡟ኚ໬ࡉࡏࡓ㸬ࡘࡲࡾ㸪ఙ⦰㊥㞳ࡀ኱ࡁ࠸ሙྜࡣ࣮ࣔ
ࢱࡢᅇ㌿㏿ᗘࢆୖࡆࡿࡇ࡜࡛▐᫬࡟ఙ⦰ࢆ⾜࠸㸪௬᝿≀య⾲㠃ࢆ࡞ࡒࡿࡼ࠺࡞ఙ⦰㊥㞳ࡀᑠࡉ࠸ሙྜࡣ࣮ࣔࢱࡢᅇ㌿© 2019 Information Processing Society of Japan

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