Haptic Media
Construction and Utilization of Human-harmonized "Tangible" Information Environment

Susumu Tachi*1,*2, Kouta Minamizawa*1, Masahiro Furukawa*1, Charith Lasantha Fernando*1*1*2

Keio University, The University of Tokyo

ABSTRACT
Our project is based on our proposed haptic primary color theory,and our aim is to construct an intelligent information environmentthat is both visible and tangible, and integrates real-spacecommunication, a human–machine interface, and media
processing. We have succeeded in transmitting fine haptic
sensations such as material texture and temperature from an avatar
robot’s fingers to a human user’s fingers. The avatar robot is atelexistence anthropomorphic robot dubbed TELESAR V withbody and limbs having 53 degrees of freedom. This robot cantransmit visual and auditory sensations of presence to humanusers, in addition to haptic sensations. Other results of thisresearch
project
include
RePro3D,afull-parallax,
autostereoscopic 3D (three-dimensional) display with haptic
feedback using RPT (retroreflective projection technology);
TECHTILE Toolkit, a prototyping tool for the design andeducation of haptic media; and Haptic Editor, an interactive
editing system for creating haptic-enabled 3D content.
Keywords: 3D, haptics, haptic primary color, haptic editor, virtual
reality, VR, augmented reality, AR, human augmentation, augmented
human, telepresence, telexistence.

Index Terms: I.2.9 [Robotics]: Operator interfaces; I.3.7 [ThreeDimensional Graphics and Realism]: Virtual[Communications
Applications]:
Computerteleconferencing, and videoconferencing

1

reality; H.4.3
conferencing,

INTRODUCTION

This research is aimed at constructing an intelligent haptic
information space (haptic media) that integrates communication inreal space, human interfaces, and media processing. In otherwords, we seek to establish methods for the collection,
understanding, and transmission of haptic information in real
space and its display on humans who are in remote sites. Further,
we seek to utilize an information space that feels like the natural
space in which people move and act, not only to make remotecommunication, remote experiences, and pseudo experiencespossible but also to build human-harmonized "haptic media" inwhich creative activities like design and content production cantake place like they do in the real world.
The information we acquire through our real lives gives us aholistic experience, fully incorporating a variety of sensations andbodily motions—seeing, hearing, speaking, touching, smelling,
tasting, moving, etc.

However, the sensory modalities that can be transmitted in our
information space are currently virtually limited to the visual andauditory. "Haptic Media" that provide sensations like directly
touching far away people and objects or touching artificial objects
that cannot normally be touched, and transmit texture, mass,
warmth, moisture, and other sensory information would expand
the current passive information space comprising only images andsounds, to an active and human-harmonized information space
where the user can extend his/her hand and feel the presence ofthe object.
A number of technologies have been developed to build a
haptic information space, but they fail to provide a wholesome"experience" owing to two shortcomings:(1) The technologies can communicate only a select spectrumof haptic sensation owing to the use of ad hoc methods
based on an insufficient and still primitive understanding of
haptic sensation.
(2) They offer only a narrow definition of haptic sensation,
which does not sufficiently incorporate visual auditory
sensation and bodily motion.
In order to establish foundation technologies for the "recording
and analysis," "transmission," and "playback, synthesis anddisplay" of haptic information, and to build technologies to fullytransmit haptic sensation and to bring haptic sensation to a level
where it can be treated as information media, much like visual andauditory sensation, this research will
1)
2)

expand upon the haptic primary color theory previously
formulated by the authors, and further elucidate thehaptic sense mechanism in humans, andestablish a design method for haptic information
combined with visual sensation and bodily movement.

Figure 1 shows the concept of JST-CREST Haptic Media
Project (Construction and Utilization of Human-harmonized"Tangible" Information Environment), which started in October,2009 and will end in March, 2015.

*{tachi, kouta, m.furukawa, charith}@tachilab.org

Figure 1: Concept of “Haptic Media”

In this organized session paper, project goal and plan are
explained, and interim achievements such as TELESAR V,
RePro3D, TECHTILE toolkit and Haptic Editor are shown.
2

THE HAPTIC MEDIA PROJECTThis research concerns the development of a "haptic information
space," an information system that makes possible simultaneousdelivery of high-resolution haptic, visual, and auditory
information. Figure 2 shows the outline of the project.

Figure 2: Outline of Haptic Media ProjectSome possible applications of these systems would include theimplementation of information contents from museums andlibraries, as well as training in the fields of medicine and spaceresearch. For example, visual and haptic data for a precious object
in a museum’s collection (normally not available to touch) could
be archived in a computer, and users could access the object via astudio-type information space, where they can experience
touching the object with their own hands (see Figure 3 left). Thesesystems could also be used in daily life. For example, a shop
could store visual and haptic information about all its products,
and produce a tangible catalog of its goods. The customer could
customize the product on the spot and try it out prior to deciding
on a purchase (Figure 3 middle), or two people at distant locations
could cooperate in creative activities (Figure 3 right).

Figure 3: Museum Implementation (left) / Tangible ProductCatalog (middle) / Co-Creation (right)

2.1

Haptic Device Design based on Haptic Primary
Color Model
Our understanding of human perception mechanisms forprocessing visual and auditory information continues to progress
through biological and psychological knowledge, and sensory
information measurement and design methods for presentation
based on principles of human sensory perception are alreadyestablished. It is for this reason that cameras, televisions, andother general-use technologies that measure and present sensory
information have been designed and adopted. This research has asits goal the establishment of design methods for processing haptic
sensory information based on an improved understanding of
sensory mechanisms.
Broadly speaking, human haptic sensation can be divided into
cutaneous sensation (pressure sense, vibration sense, thermal

sense, and pain sense) and proprioception (kinesthetic sense,
position sense, and movement sense). Cutaneous perception iscreated through a combination of nerve signals from several typesof tactile receptors located below the surface of the skin.
If we consider each activated haptic receptor as a sensory base,in principle, we should be able to express any given pattern of
cutaneous sensation through the synthesis of these bases. In
particular, for pressure and vibration senses, there are four tactile
receptors known as the Meissner corpuscles, Merkel cells,
Pacinian corpuscles, and Ruffini endings, which are known toactivate these senses, each through differing stimuli.
Similar to the three primary visual colors, we have named thesehaptic information bases the "haptic primary colors" and continue
to investigate them. Using this haptic primary colors system as afoundation, the recreation of cutaneous sensation through signaldelivery to each sensory base separately (i.e., the selective
stimulation of tactile receptors) is a technical concern. We offer
selective stimulation of the Meissner corpuscles and Merkel cells
through electrical stimulation as one method for the reproductionof haptic primary colors. We have developed a cutaneous sense
display capable of high spatial and temporal resolution, and havethereby demonstrated the efficacy of the haptic primary colors
system.
A high-density distributed force vector sensor called "Gelforce"has been developed for the quantification of pressure sense
information. This development has made possible the collectionof real-world temporal and spatial haptic information. By
employing these technologies in measurement and presentation,
the haptic telexistence system has been devised. The systemallows for long-distance transmission of haptic information
through the use of a robotic hand with Gelforce embedded in its
fingertips, and a "master hand" with an electro-tactile display
embedded in the fingertips. Haptic information about the objects
gripped by the robotic hand is transmitted to the operator, who isin turn able to smoothly operate the robotic hand [1].
However, although it is already possible to recreate simple
conditions like contact and pressure, it is not yet possible to create
more detailed natural haptic sensations like the feel of metal or
texture of paper. Reproducing natural haptic sensations will
require physical information collected from the real world to be"resolve" into haptic sensory bases, and selective stimulation ofeach type of tactile receptor through composition into the nervefiring patterns of human tactile receptors. To date, there have been
virtually no previous examples of a conversion system for thisdecomposition and composition, and no effective methodologies
have been established. This can be considered one fundamental
reason that existing haptic sensory research has been limited toindividual tactile sensations.
In this investigation, we expand upon our haptic primary color
system. By adding cold receptors (free nerve endings), warmth
receptors (free nerve endings), and pain receptors (free nerve
endings) to the original four haptic sensory bases andreconsidering sensory activation as a temporal and spatial
composition of seven sensory bases, we aim to attain a better
understanding of the haptic primary color formula for converting
haptic information through decomposition and composition. In
order to expand the current selective stimulation method fromMeissner corpuscles and Merkel cells to other sensory bases, wemust first deepen our biological understanding of haptic receptors
and seek a new method for selective stimulation to better
understand the nature of temporal and spatial perception of haptic
sensation.
We will formulate design principles for haptic sensors andtactile displays that better fulfill the haptic primary color formula,and we will develop transmissions systems for cutaneous sense
information that can transmit natural haptic sensations.

2.2

Construction Method of Embodied Haptic
Contents
Through the use of computer graphics libraries like DirectX andOpenGL, image editing software, three-dimensional CAD, andother information composition and editing technologies, there
exists today an information environment where anyone can freely
create visual information contents.
In this investigation, we aim to develop fundamental
technologies for the creation of haptic information contents, andto integrate visual information contents into haptic information,
thereby constructing a haptic information space. When one
touches an object with his/her hand or fingers, the haptic
information is barely sensed at all unless the hands and fingers are
moved. Only when one moves his/her hands and fingers, thecomplete haptic information about the object is collected. In
addition, haptic sensations in the hands and fingers for the same
portion of the same object can differ depending on many factors,
including angle, speed, and pressure of touch. The haptic sense
differs greatly from the visual and auditory senses in that theperception processes of sensation are mediated by bodily
movement. Haptic sensations are thoroughly embodied
perceptions. This creates a necessity to control the reproduced
haptic information and to respond in real-time to a user’s bodily
movement throughout the information experience as a part of theexpression of haptic information contents.
Kinesthetic sensation can be quantified and presented in realtime through physical simulation technologies, but it is not yet
possible to simulate cutaneous sensation in real-time. Using ourunderstanding of human haptic perception, we are working todevelop technologies for 1) a haptic scanner that can capture realworld haptic sensations (texture), 2) methods for mapping haptic
sensory textures using 3D computer graphics modeling, and 3)
technologies to compose haptic sense information in response toarbitrary bodily movements based on the collected haptic sensory
textures, as well as seeking to establish a method for building
haptic sensory contents with a sense of embodiment. We havepreviously demonstrated that the resolution and precision of
haptic sense information can be improved through theincorporation of haptic motion data.
In this research, we seek to design compression for motionbased haptic sense information as well as simplification of haptic
sense quantifications and establish technologies for creation ofembodied haptic information contents (Figure 4).

information. Since the concept of direct “touch” is not considered
for the content offered by conventional visual displays, it is notpossible to align the positional relationship between visual
information and haptic information. If a head mounted display(HMD) is used, presenting stereoscopic images within the graspof the user is achievable; however, it is hard to say that a "humanharmonized ‘tangible’ information environment," which is theobject of this study, is suited to such use since HMDs are isolated
from the surrounding environment. Assuming that haptic
information is available, the ability to provide 3D haptic
information at the user’s fingertips, and the ability to move one’s
hands freely without a device at the location where information isprovided are requisite conditions. In this study, users were able totake and touch three-dimensional images as well as perform
operations while perceiving autostereoscopic visual information
using binocular parallax and motion parallax; in other words, a 3D
visual/haptic display that can provide “reality” to target objects isbeing developed (Figure 5).

Figure 5: From Conventional 3D Visual-Haptic Displays to a 3D
Visual-Haptic Display that Presents Reality

2.4

Construction and Verification
Tangible 3D System

of

Embodied

2.4.1 Transmission of Realistic Tangible 3D Environment
The interim milestone for the present study was to construct a
haptic information transmission system between remote locations
within a three-year target period. The system was supposed totransmit signals from a haptic sensor in real-time and provide
haptic sensations including temperature sensations from a haptic
display to achieve a system integrated with visual sensations. We
have already succeeded in transmitting fine haptic sensations suchas material texture and temperature from an avatar robot’s fingers
to a human user’s fingers by constructing TELESAR V. The final
goal is to refine the system.
2.4.2 Creation of Realistic Tangible 3D Environment

Figure 4: Technologies for Creation of Embodied Haptic
Information Contents

2.3
Tangible Visuo-Haptic 3D Display
Touching an object as it is viewed is an absolutely essential
element in experiencing the “reality” of the target object. It has
been proven that in an advanced stereoscopic display system, if
the user cannot extend his/her hand and touch a stereoscopic
image, he/she will lose cognizance of the “reality” of the target
object and experience a sense of discomfort. As such, there is astrong awareness that together with the popularization ofstereoscopic images, it is necessary to fuse visual and haptic

The final milestone of this study is to construct a tangible
information environment system that presents integrated visualand haptic information. Visual as well as haptic models of real
objects will be acquired and added to a database to produce
content. Furthermore, demonstrations will be conducted using anexperiment system that enables information content to be"experienced" in situations that unite haptic senses, visual senses,
and motion.

Figure 6: Creation of Realistic Tangible 3D Environment

These demonstrations will reveal that necessary and sufficienthaptic information has been acquired, transmitted, and presented.
For example, as shown in Figure 6, a demonstration of a haptic
aquarium will verify and assess that items such as a sense of
touching the fish, as well as water resistance, moistness, andslipperiness are effectively displayed in response to the user's
hand movements.
3

INTERIM ACHIEVEMENTS

3.1
Haptic Primary Color Model
Humans do not perceive the world as it is. Different physicalstimuli give rise to the same sensation in humans and areperceived as identical, as is shown in Figure 7. A typical exampleof this fact is color perception in humans. Humans perceive lights
with different spectra to have the same color if they have the sameamount of RGB (Red, Green and Blue) spectral components. Thisis because human eyes (retina) typically contain three types ofcolor receptors, called cone cells, each of which responds todifferent ranges of the color spectrum. They are usually called R,
G, and B. Humans respond to light stimuli via three-dimensional
sensations, which generally can be modeled as a mixture of RGB,
the three primary colors.
This many-to-one correspondence of elements in mapping fromphysical to psychophysical perceptual space is the key to virtual
reality for humans. Virtual reality produces the same effect as areal object for a human subject by presenting its virtual entities
using this many-to-one correspondence.
We have proposed the hypothesis that cutaneous sensation also
has the same many-to-one correspondence from physical to
psychophysical perceptual space, via physiological space. We callthis the Haptic Primary Color Model, as explained in Section 2.1.
We define three spaces, as shown in Figure 8, namely, physicalspace, physiological space, and psychophysical or perception
space.

Figure 7: Many-to-One Mapping

hand. Then, we transmit these pieces of information to the humanuser who controls the avatar robot as his/her surrogate. We
reproduce these pieces of information at his/her hand using haptic
displays of pressure, vibration, and temperature so that the humanuser feels the sensation that he/she is touching the object directly
as he/she moves his/her hand controlling the avatar robot’s hand.
We can also synthesize virtual cutaneous sensation by displaying
computer synthesized p(t), v(t), and e(t) to human users throughthe haptic display.
This decomposition into pressure, vibration, and temperature inphysical space is based on the human restriction of sensation inphysiological space. Human skin has very limited receptors, as is
the case in human retina. In the physiological space, cutaneous
perception is created through a combination of nerve signals fromseveral types of tactile receptors located below the surface of theskin. If we consider each activated haptic receptor as a sensory
base, we should be able to express any given pattern of cutaneous
sensation through the synthesis using these bases.
In particular, there are four tactile receptors known as the
Merkel cells, Ruffini endings, Meissner corpuscles, and Pacinian
corpuscles, which are known to be activated by pressure,tangential force, low-frequency vibration, and high-frequency
vibration, respectively. By adding cold receptors (free nerve
endings), warmth receptors (free nerve endings), and pain
receptors (free nerve endings) to the four vibrotactile haptic
sensory bases, we have seven sensory bases in physiological space.
It is also possible to add the cochlea, to hear the sound associatedwith vibration, as one more basis. This is an auditory basis andcan be considered as cross-modal. If we can selectively stimulate
each of the seven receptors, we can produce any type of cutaneous
sensation without having 'real' touching of an object.
3.2
TECHTILE Toolkit
There has been various haptic devices proposed so far, but most ofthem are still in emerging stage. To attract the interest of potential
users of haptics such as designers, educators, and students, it isnecessary to provide easy-to-make and easy-to-use haptic device.
TECHTILE Toolkit is an introductory haptic toolkit combining“TECHnology” with “tacTILE” perception/expression todisseminate the haptic technologies as the third media in the fieldof art, design, and education and extends the conventional “multimedia” which consists of visual information and auditory
information. It composed of a haptic recorder (microphone),
haptic reactors (small voice-coil actuators), and a signal amplifierthat is optimized to present not only the zone of audibility (3020000Hz) but also low frequency (less than 30Hz) vibrotactile
sensation.
This toolkit is intuitive to use and can be developed with low
cost, it can deliver even higher-realistic haptic sensation thanmany other conventional haptic devices. TECHTILE Toolkit uses
conventional method on auditory media. The sources of auditory
sensation and tactile sensation are the same. Vibration of an object
generates a sequence of vibration of the air and perceived assound, on the other hand, if the object were touched directly, it
would be perceived as tactile sensation. The auditory sensation
can be recorded as a sequence of sound waves, easily editable andfinally share it on the Internet via services like YouTube or othercontent-sharing websites (Figure 9).

Figure 8: Haptic Primary Color ModelIn the physical space, human skin physically contacts an object,
and the interaction continues with time. We hypothesize that
cutaneous phenomena can be resolved into the following threecomponents at each contact point of the skin: pressure p(t),vibration v(t), and temperature e(t). We measure p(t), v(t), and e(t)at each contact point using sensors present on an avatar robot’s
Figure 9: TECHTILE Toolkit

Throughout many workshops conducted in universities andscience museums, we have confirmed that this device is suitable
as an educational tool for learning possible applications of haptic
design [2]. The attendees, aged from 6 to 50’s, could easily
understand how-to-use the toolkit in just 10 minutes. After that,they can create their original haptic artworks using their personal
belongings such as papers, crayons, scissors, umbrellas, sandals
and so on.
3.3
Haptic Editor
For the popularity of haptic technologies to reach the next stage, acreation system for haptic-enabled content is required. At present,
the market offers a number of commercially available visual
editors for creating and editing images or 3D models. Standard
methods for the creation of visual content allow the user to copy
and paste colors or visual textures from one place to another andeven from real world to the virtual world. In addition, the render
quality of current image editing has significant improvementswith the help of photo realistic rendering.

Figure 10: Haptic Editor

Haptic sensation represents integration of considerable amountof sensory information; therefore, it is difficult to design haptic
enabled content. Although some research on 3D modelingsystems using haptic interfaces has been conducted, these works
do not focus on the creation of models designed for haptic
interactions. To construct realistic haptic content, it is important toobtain detailed surface textures of real objects. There are anumbers of studies on surface shape reconstruction and someresearchers have proposed devices for haptic scanning such as
what that enables the user to obtain textures by interactively
scanning the surfaces of objects. However, these methods reveal
fine-grained surface details; they do not enable direct design or
allow the user to test the sensations of touching the content.
Haptic Editor is a interactive content creation and editing
system for haptic-enabled 3D content by drawing shapes in the air
and copying and pasting surface textures. To achieve realistic
haptic interaction, we define and create a data structure for haptic
content using three kinesthetic layers and a tactile layer. To test
the haptic sensations during the content creation, a pen-shaped
haptic interface was developed (Figure 10). The user creates
haptic 3D models by drawing geometries through aerial sketching;
painting compliance and friction values on the layers; and copying
and pasting the vibrotactile surface textures of real world objects
to the surface of 3D content in the virtual world [3].
3.4
Repro3D
Most existing stereoscopic displays are based on the concept ofbinocular stereo. A binocular-stereo-based display cannot renderan accurate image with motion parallax and cannot create images
that would provide different perspectives of the same image frommultiple points of view.
Repro3D is a novel full-parallax autostereoscopic threedimensional (3D) display system that is suitable for interactive 3D
applications with haptic feedback. Repro3D enable the users tointeract with a 3D image by means of intuitive movements. Our
approach is based on the retro-reflective projection technology inwhich several images projected from a projector array aredisplayed on a retro-reflective screen. When viewers view thescreen through a half mirror, they see a 3D image superimposed inreal space without the aid of glasses. RePro3D has a sensor
function that recognizes user input; therefore, it can support someinteractive features such as manipulation of 3D objects. In
addition, a wearable haptic device, which is a part of our system,
provides the user with a sensation of having touched the 3D image(Figure 11).

Figure 11: RePro3D

The array is integrated with an LCD, a half mirror, and a retroreflector as a screen. An infrared camera senses user input. A
number of images from the projector array are projected onto theretro-reflective screen. Our method can generate vertical andhorizontal motion parallax. When a user looks at the screen
through a half mirror, he or she, without the use of glasses, canview a 3D image that has motion parallax [4].
3.5
HaptoMIRAGE
HaptoMIRAGE is a visuo-haptic display that provides a wideangle auto-stereoscopic 3D image on the content-adjustable haptic
display so that it enables us to have an enchant interaction withthe virtual world via tangible object with multi-modal sensation
not only by one user but also by multi users.
Our aim is to implement a platform for storytelling,entertainment and creative collaboration by combining 3D visionand haptic sensation. Based on our active-shuttered real image
autostereoscopic technology, we have developed a 3D image
projection technology for multiusers that provides autostereoscopic real image in mid-air with a view of 180 degrees. We
have also developed a content-adjustable haptic display based on
the simple and realistic record & playback method, of which we
can easily design the shape and the vibrotactile sensationaccording to the scenario of the content.
The 180 degrees autostereoscopic display consists of threecomponents; each component has 60 degrees field of view, andprovides an autostereoscopic image for one user. The Fresnel lens
makes the real image from the LCD display, and the position of
the user is measured by camera-based motion capture system, andthe active shutter using transparent LCD panel provides the timedivided rays of the light for left-eye and right-eye. Then the user
can see the real image as a floating 3D image. In this way theusers up to three can see the autostereoscopic image fromdifferent viewpoints at the same time.

Figure 12: HaptoMIRAGE

The haptic display has multiple vibrators to provide spatiallydistributed haptic sensation to the user. In order that user canfabricate the form of the haptic display, we developed a creation
method of haptic display using polymer clay and multiple
vibrotactile actuators. The record and play-back method of haptic
sensation is based on the method of TECHTILE toolkit and thenthe creator can design both the shape and applied sensationaccording to the content (Figure 12).
3.6
TELESAR V
Telepresence and Telexistence are technologies that allow a user
to experience a sense of existence in teleoperations where theoperator was provided with an immersive stereoscopic display,
auditory feedback and the ability to move arms hands and headaccording to his/her postural changes. Teleoperations in daily life
is helpful in visiting hazardous sites, remote surgery andsightseeing without spending much time on travelling, micro
manipulation such as biotechnology, microsurgery, microassembly and microchip manufacturing at nanometer scale, etc.
The robots used in such technologies often have higher degrees of
freedom to manipulate specialized tools with precision. Howeverthese movements are moderated from human's natural movements,
thus operator sometimes confuses about the movements without
knowing their available body boundaries. Furthermore, theseteleoperated robots require special training in order to understandthe body boundaries when performing tasks.
TELESAR V (TELExistence Surrogate Anthropomorphic
Robot) is a telexistence master-slave robot system that wasdeveloped to realize the concept of Telexistence [1, 5]. TELESAR
V was designed and implemented with the development of a highspeed, robust, full upper body, mechanically unconstrained mastercockpit and 53 degrees of freedom (DOF) anthropomorphic slave
robot. The system is able to provide an experience of one’s own
extended “Body Schema” which allows a human to keep an up-todate representation of the positions of the different body parts inspace. “Body Schema” can be used to understand the posture of
remote body and perform actions with the awareness thinking thatthe remote body is your own. With the above experience, users
can perform tasks dexterously and feel the robot’s body as his
own body through visual, auditory and haptic sensation and that’s

4This study is aimed at popularizing new haptic media and promote
the evolution from visual and audio media to multimodal media.
As television was the pinnacle of visual auditory information
when it arrived on the scene, multimodal media can similarly be
expected to result in a dramatic augmentation of the media
industry. For example, information experiences based in reality
will be obtainable through the advent of haptic product catalogs
and advertising media, as well as the archiving of museum
artifacts and skills of craftsmen. In addition, information errors
due to inadequate resources conventionally only available to thevisual auditory senses will be reduced, thereby achieving more
effective information transmission. Furthermore, it can be
expected that there will be a surge in the creation of haptic
information content such as art that offers haptic experiences that
do not actually exist. The effect of "haptic media" implemented inthis study will not just be limited to creating a spur in theaugmentation of the media industry. Experiences and creative
tools associated with reality may resolve the dilution of theindividual sense of existence in the contemporary society bystimulating human curiosity and increasing independence. It is
exactly this heightened independence that creates an information
environment in which "haptic media" is in harmony with humans,
and as such, this study provides a maximal contribution to society.
The popularization of "haptic media" constructed on the Internet
may well take humanity to a new frontier consisting of a virtualenvironment associated with reality and embodiment.
ACKNOWLEDGEMENTS
This project of Construction and Utilization of Humanharmonized "Tangible" Information Environment is supported by
JST (Japan Science and Technology Agency)-CREST (Core
Research for Evolutionary Science and Technology).
REFERENCES
[1]
[2]

[3]

[4]

Figure 13: TELESAR V

the most simple and fundamental experience for feeling to besomeone somewhere (Figure 13).
In July, 2012, it was successfully demonstrated that TELESAR V
master-slave system can transmit fine haptic sensation such as
texture and temperature of the material from an avatar robot’s
fingers to a human user’s fingers [5, 6, 7].
The telexistence experience can be used not only with robots,
but also allowing the new experience of controlling devices on
personal space, games, next generation computing where users are
not afraid of interacting with remote spaces and feel that what yousee, hear, feel is real regardless of the provided stimuli. With the
new experience, people will feel engaged in activities and theenjoyment that they will have might allow them to embed theremote space to their body.

CONCLUSION

[5]

[6]

[7]

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