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Research Area

Author

  • Kentaro Yoshida, Hiroshi Suzuki, Hironobu Abe, Akira Ono, Hiroto Kawaguchi, Masahiro Sato, Yota Komoriya, Kazunobu Ohkuri

Company

  • Sony Group Corporation

Venue

  • WHC

Date

  • 2021

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Pneumatic Concave Deformable Device and Finger Deformation-Based Evaluation for Hardness Perception

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Abstract

Modifying and controlling hardness on the same surface are very useful for digitizing realistic and intuitive interactions for many use cases. We propose a novel haptic device with a dual-layered air structure to control both the reaction force and the three-dimensional (3-D) concave deformation that provides realistic hardness and softness. To physically evaluate this device and other objects with various hardness, a measurement system is set up to acquire both kinesthetic and cutaneous profiles simultaneously. In particular, we propose a cutaneous profile based on finger deformation when pushing objects with various hardnesses. We show that our device has the potential to present hardness over a high dynamic range from a sponge specimen (stiffness: 0.544 N/mm) to a hard silicone rubber (stiffness: 5.304 N/mm) with evaluation using the aforementioned measurement system. We also conduct a psychophysical experiment to confirm that our device can change the perception of hardness.

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