ᣣᧄࡃ࡯࠴ࡖ࡞࡝ࠕ࡝࠹ࠖቇળ╙  ࿁ᄢળ⺰ᢥ㓸  ᐕ  ᦬࠹࡟ࠗࠣࠫࠬ࠲ࡦࠬߩ⎇ⓥ㧔╙  ႎ㧕*CRVKE6GNGZKUVGPEG㧦ಽᏓဳ⸅ജⷡᖱႎࠍવ㆐ߔࠆࡠࡏ࠶࠻ࡂࡦ࠼ࠪࠬ࠹ࡓ


Study on Telexistence (LV)
- Haptic Telexistence: robotic hand system for transmission of distributed haptic information ૒⮮సᚑ㧘ฎ᣿࿾⑲ᴦ㧘ධỈቁᄥ㧘ᣂዬ⧷᣿㧘Ꮉ਄⋥᮸㧘⥪᥷
Katsunari SATO, Shuji KOMEIJI, Kouta MINAMIZAWA, Hideaki NII, Naoki KAWAKAMI and Susumu Tachi᧲੩ᄢቇᄢቇ㒮ᖱႎℂᎿቇ♽⎇ⓥ⑼
‫᧲ޥ‬੩ㇺᢥ੩඙ᧄㇹ ]Katsunari_Sato, Shuji_Komeiji, Hideaki_Nii}@ipc.i.u-tokyo.ac.jp,{Kota, Kawakami, Tachi}@star.t.u-tokyo.ac.jp)
Abstract: "Haptic Telexistence" is a robotic hand master-slave system that enables us to conduct intuitive
tele-manipulation. The slave hand with vision-based tactile sensors acquires distributed haptic information inremote places. In addition, this information is conveyed to the operator by using electrotactile display
mounted on the slave hand.
Key Words: Haptics, Telexistence, Robotic hand.
 ߪߓ߼ߦ߼㧘⚕ࠍߟ߹߻േ૞ߥߤ㧘ᓥ᧪ߩࡠࡏ࠶࠻ࡂࡦ࠼ࠃࠅ߽૶ㄭᐕ㧘㆙㓒࿾߿ࡃ࡯࠴ࡖ࡞ⅣႺߦሽ࿷ߔࠆੱ߿‛ߣߩ㧘↪⠪ߩേ૞ࠍ♖ኒߦ෻ᤋߢ߈ࠆ㧚ⷞⷡ߿⡬ⷡࠍ੺ߒߚࠗࡦ࠲࡜࡚ࠢࠪࡦ߇น⢻ߦߥߞߡ߈ߡ޿ࠆ㧚㆙㓒࿾ߩ‛૕ߩሽ࿷ᗵࠍᗵߓ㧘౞Ṗߥࠗࡦ࠲࡜࡚ࠢࠪࡦࠍน⢻ߦߔࠆߚ߼ߦߪ㧘⸅ജⷡ߇㊀ⷐߥⷐ⚛ߣ⠨߃ࠄࠇࠆ㧚ߒ߆ߒߎࠇ߹ߢ᭴▽ߐࠇߡ߈ߚ㆙㓒ࠗࡦ࠲࡜࡚ࠢࠪࡦࠪࠬ࠹ࡓߢߪ㧘⸅ജⷡᖱႎߩ߁ߜജⷡᖱႎߛߌࠍવ㆐ߔࠆ߽ߩߢ޽ߞߚ㧚
̌Haptic Telexistence̍ߢߪ㧘ࠃࠅ⋥ᗵ⊛ߢ࡝࠶࠴ߥ⸅ജⷡᖱႎࠍવ㆐ߒ㧘౞Ṗߥ㆙㓒ࠗࡦ࠲࡜࡚ࠢࠪࡦࠍታ⃻ߔࠆߎߣࠍ⋡ᮡߣߔࠆ㧚ߎࠇࠍ㆐ᚑߔࠆߚ߼ߦ㧘ᚒ‫࡟ࠬဳੱߪޘ‬࡯ࡉࡂࡦ࠼ߣᜰဳ⸅ⷡ࠮ࡦࠨ㧘ㆣㆄဳࡑࠬ࠲ࡂࡦ࠼㧘㔚ᯏ࿑ ࡠࡏ࠶࠻ࡂࡦ࠼ࡑࠬ࠲ࠬ࡟࡯ࡉࠪࠬ࠹ࡓ⸅ⷡ࠺ࠖࠬࡊ࡟ࠗߩ  ߟߩ࠺ࡃࠗࠬࠍ㐿⊒ߒߡ߈ߚ㧚ߐࠄߦ㧘ߘࠇࠄࠍ↪޿ߡࡠࡏ࠶࠻ࡂࡦ࠼ߩࡑࠬ࠲ࠬ࡟࡯ࡉࠪࠬ࠹ࡓࠍ᭴▽ߒ㧔࿑㧕㧘ಽᏓဳ⸅ജⷡᖱႎߩવ㆐ࠍታ⃻ߒ ᜰဳ⸅ⷡ࠮ࡦࠨߚ㧚ᧄዷ␜ߦ߅޿ߡߪ㧘㆙㓒࿾ߩ‛૕ߣߩធ⸅૏⟎߿⴫㕙㆙㓒࿾ߩ⸅ⷡᖱႎࠍขᓧߔࠆߚ߼ߦ㧘␹ጊࠄߩ㐿⊒ߒߚߩ⹦⚦ᒻ⁁ࠍ⍮ⷡߒߥ߇ࠄ㧘౞Ṗߥ㆙㓒ࠗࡦ࠲࡜࡚ࠢࠪࡦᜰဳߩశቇᑼ⸅ⷡ࠮ࡦࠨࠍ↪޿ߚ㧔࿑㧘DE㧕=?㧚ߎࠍ૕㛎ߢ߈ࠆ㧚ߩ࠮ࡦࠨߪ㧘ࠬ࡟࡯ࡉࡂࡦ࠼ߩᜰవ⴫㕙ߦ߆߆ࠆ  ᰴరജࡌࠢ࠻࡞႐ࠍ⸘᷹ߢ߈ࠆ㧚߹ߚ㧘࠮ࡦࠨᧄ૕߇ᒢᕈ૕ߢ᭴ ࠪࠬ࠹ࡓ᭴ᚑ࠺ࡃࠗࠬᚑߐࠇߡ߅ࠅ㧘ੱߩᜰ߇‛૕ߣធ⸅ᤨߒߚ㓙ߩ⋧੕૞↪ࠍ ੱဳࡠࡏ࠶࠻ࡂࡦ࠼ౣ⃻ߢ߈ࠆߚ߼㧘ࠃࠅᱜ⏕ߥ⸅ⷡᖱႎߩขᓧ߇น⢻ߢ޽ࠆ㧚ࠬ࡟࡯ࡉࡂࡦ࠼ߣߒߡ↪޿ߚੱဳࡂࡦ࠼㧔࿑㧘C㧕=?

 ㆣㆄဳࡑࠬ࠲ࡂࡦ࠼ߪ㧘ฦᜰవߩ⁛┙⥄↱ᐲࠍ฽߻ว⸘  ߩ⥄↱ᐲࠍᜬߞߡ

ࠬ࡟࡯ࡉࡂࡦ࠼ࠍ⥄࿷ߦᠲࠆߚ߼ߦ㧘ਛᴡේࠄߩᄙᜰࡑ߅ࠅ㧘ߐࠄߦੱᏅߒᜰߣⷫᜰߩኻะ߇น⢻ߢ޽ࠆ㧚ߘߩߚࠬ࠲ࡂࡦ࠼ࠍ↪޿ߚ㧔࿑㧘C㧕=?㧚ߎࠇߪ㧘‫ޟ‬ㄤ࿁࡚ࠫ213ࠗࡦ࠻‫ޟߣޠ‬ㆣㆄဳ‫ߣޠ‬๭߫ࠇࠆ  ߟߩ․ᓽࠍᜬߟ㧚ㄤ࿁ᐲ㧔㔚ᵹ㊂㧕㧘ജࡌࠢ࠻࡞ߩಽᏓߪೝỗࠍⴕ߁㔚ᭂࡑ࠻࡝࡚ࠫࠗࡦ࠻ߪ㧘૶↪⠪ߩᜰߩᐢ޿േ૞▸࿐ࠍ൮᜝ߔࠆ㧚ㆣࠢࠬߩ૏⟎ߦኻᔕߐߖࠆ㧔࿑㧕㧚ㆄဳߢߪ㧘૶↪⠪ߩᜰߩേ߈ࠍㅊᓥߔࠆ㕖ធ⸅⁁ᘒߣ㧘෻ജࠍឭ␜ߔࠆធ⸅⁁ᘒߣࠍಾࠅᦧ߃ࠆߎߣߢ㧘⥄ὼߥᠲ૞ᗵߣធ⸅ᗵࠍታ⃻ߔࠆ㧚ធ⸅⁁ᘒߩ್ቯߪ㧘ᜰవߦ៞タߐࠇߚࡈࠜ࠻࠮ࡦࠨߣജ࠮ࡦࠨߦࠃࠅⴕ߁㧚D⸘᷹ߐࠇࠆജࡌࠢ࠻࡞႐CEឭ␜ߐࠇࠆ㔚᳇⸅ⷡ.'&ᾖ᣿ᐢⷺ࡟ࡦ࠭ㅘ᣿ᒢᕈ૕

 OO%%&ࠞࡔ࡜࿑ಽᏓဳ⸅ജⷡᖱႎߩવ㆐ OO࿑ ߅ࠊࠅߦC ੱဳࡠࡏ࠶࠻ࡂࡦ࠼ DE ᜰဳ⸅ⷡ࠮ࡦࠨಽᏓဳߩ⸅ജⷡᖱႎࠍવ㆐ߔࠆ㧘ࡠࡏ࠶࠻ࡂࡦ࠼ߩࡑࠬ࠲ࠬ࡟࡯ࡉࠪࠬ࠹ࡓࠍ᭴▽ߒߚ㧚ߎࠇߪ㧘ജⷡߛߌࠍવ㆐ 㔚᳇⸅ⷡ࠺ࠖࠬࡊ࡟ࠗ૶↪⠪ߦ⸅ⷡᖱႎࠍឭ␜ߔࠆߚ߼ߦ㧘ࡑࠬ࠲ࡂࡦ࠼ߩᜰߔࠆᓥ᧪ߩࠪࠬ࠹ࡓߢߪታ⃻ߐࠇߥ߆ߞߚ㧘㆙㓒࿾ߩ‛૕వធ⸅ㇱߦ㔚᳇⸅ⷡ࠺ࠖࠬࡊ࡟ࠗࠍ៞タߒߚ㧔࿑㧘C㧕ߣߩធ⸅૏⟎߿⴫㕙ߩ⹦⚦ᒻ⁁ࠍᗵߓขࠆߎߣ߇น⢻ߦ=?㧚㔚᳇⸅ⷡ࠺ࠖࠬࡊ࡟ࠗߪ㧘㔚ᭂ߆ࠄ⊹⤏ౝㇱߦ㔚ᵹߥࠆߣ⠨߃ࠄࠇࠆ㧚ߎࠇߦࠃࠅ㧘ᓥ᧪ߩࠪࠬ࠹ࡓࠃࠅ߽⋥ࠍᵹߒ㧘⸅ⷡฃኈེߦߟߥ߇ࠆ␹⚻ࠍ⋥ធೝỗߔࠆ㧚ߎࠇᗵ⊛ߢ౞Ṗߥ㆙㓒ࠗࡦ࠲࡜࡚ࠢࠪࡦࠍታ⃻ߢ߈ࠆߣ⠨߃ߪ㧘᣿⏕ߥࠛ࠶ࠫᗵߩឭ␜ߦఝࠇߡ޿ࠆ㧚߹ߚ㧘⸅ⷡឭ␜ߡ޿ࠆ㧚੹ᓟߪ࠹ࠢࠬ࠴ࡖ߿᷷ᐲࠍ฽߼ߚ㧘ࠃࠅ࡝࠶࠴ߥㇱ߇ዊဳߢシ㊂ߢ޽ࠆߚ߼㧘ࡑࠬ࠲ࡂࡦ࠼߳ߩ៞タ߇ኈᤃ⸅ജⷡᖱႎߩવ㆐ࠍᬌ⸛ߒߡࠁߊ㧚ߦⴕ߃ࠆ㧚⻢ㄉ ᧄ⎇ⓥߦߏදജ޿ߚߛ޿ߚ㧘㔚᳇⸅ⷡ࠺ࠖࠬࡊ࡟ࠗCࠍ㐿⊒ߒߚ᫃ᧄ⵨ਯಎᢎ᝼㧔㔚᳇ㅢାᄢቇ㧕㧘ᜰဳ⸅ⷡ࠮

Dࡦࠨࠍ㐿⊒ߒߚ␹ጊ๺ੱഥᢎߣ࠾࠶࠲ᩣᑼળ␠㧘ࠬ࡟࡯ࡉࡂࡦ࠼ߣࡑࠬ࠲ࡂࡦ࠼ࠍ㐿⊒ߒߚᎹᷨ৻㇢ඳ჻㧔Ꮉᷨᯏ᪾ᛛⴚ⎇ⓥᚲ㧕ࠄߦߪ㧘ᷓߊᗵ⻢↳ߒ਄ߍ߹ߔ㧚ෳ⠨ᢥ₂
࿑C ㆣㆄဳࡑࠬ࠲ࡂࡦ࠼ D 㔚᳇⸅ⷡ࠺ࠖࠬࡊ࡟ࠗ

=?K. Hoshino and I. Kawabuchi, “Pinching at finger tips forhumanoid ಽᏓဳ⸅ജⷡᖱႎߩવ㆐robot

hand,”JournalofRobotics

andMechatronics, No. 17, Vol. 6, pp. 655-663.

ᧄࠪࠬ࠹ࡓߢߪ㧘ࡠࡏ࠶࠻ࡂࡦ࠼ߩࡑࠬ࠲ࠬ࡟࡯ࡉߦࠃ

=?H. Kajimoto, N. Kawakami, T. Maeda and S. Tachi,ࠅജⷡᖱႎߩવ㆐ࠍⴕ޿㧘ߘࠇߣหᤨߦ⸅ⷡ࠮ࡦࠨߣ࠺ࠖ“Electro-Tactile Display with Tactile Primary Colorࠬࡊ࡟ࠗߦࠃࠅ⸅ⷡᖱႎߩવ㆐ࠍⴕ߁㧚ߎࠇߦࠃࠅ㧘ಽᏓ

Approach,” In Proceedings of International Conference onဳ⸅ജⷡᖱႎߩવ㆐ࠍታ⃻ߔࠆ㧚Intelligent Robots and System, 2004.

ࡑࠬ࠲ࠬ࡟࡯ࡉ೙ᓮߪ㧘ࠬ࡟࡯ࡉࡂࡦ࠼ߣ‛૕߇㕖ធ⸅

=?K. Kamiyama, H. Kajimoto, N. Kawakami and S. Tachi,ߩ⁁ᘒߢߪ㧘ࠬ࡟࡯ࡉࡂࡦ࠼ߣࡑࠬ࠲ࡂࡦ࠼ߩ㑐▵ⷺᐲᖱ

“Evaluationႎࠍၮߦߒߡኻ⒓ဳߩ೙ᓮࠍⴕ߁㧚߹ߚ㧘ធ⸅⁁ᘒߢߪ㧘

Proceedings of International Conference on Robotics and㑐▵ⷺᐲ߅ࠃ߮ᜰဳ⸅ⷡ࠮ࡦࠨߣࡑࠬ࠲ࡂࡦ࠼ߦ៞タߐ

ofaVision-based

TactileSensor,”inAutomation, 2004.

ࠇߚജ࠮ࡦࠨߩᖱႎࠍ↪޿ߡ㧘⋧੕ࠗࡦࡇ࡯࠳ࡦࠬ೙ᓮࠍ

=?S. Nakagawara, H. Kajimoto, N. Kawakami and S. Tachi,ⴕ߁㧚ߎࠇࠄߦࠃࠅ㧘ࡑࠬ࠲ࡂࡦ࠼ࠍ↪޿ߚ⥄࿷ߥࠬ࡟࡯

“An Encounter-Type Multi-Fingered Master Hand Usingࡉࡂࡦ࠼ߩᠲ૞ߣ㧘㆙㓒࿾ߩജⷡᖱႎߩવ㆐߇น⢻ߦߥࠆ㧚

Circuitous Joints,” In Proceedings of IEEE Internationalࠬ࡟࡯ࡉࡂࡦ࠼߇‛૕ߦ⸅ࠇߚߣ߈㧘ᜰဳ⸅ⷡ࠮ࡦࠨߪ ᰴరജࡌࠢ࠻࡞႐ࠍ⸘᷹ߔࠆ㧚ߎߩᖱႎࠍ㔚᳇⸅ⷡ࠺ࠖࠬࡊ࡟ࠗߦࠃࠅឭ␜ߔࠆ㧚ജࡌࠢ࠻࡞ߩᄢ߈ߐߪೝỗߩᒝ214

conference on Robotics and Automation, 2005