| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a tactile sensing method that evaluates a state of contact with an object from how much a human finger load is applied including sensual evaluation. <P>SOLUTION: The tactile sensing method comprises: a step of receiving a reflected wave from a finger body F1 when the finger body F1 is brought into contact with the object while mounting an ultrasonic probe 1 on a nail plate N2 of the finger so as to transmit an ultrasonic wave toward the finger body F1; and a step of estimating the magnitude of the finger load from the frequency and/or phase of the received reflected wave. Further, the tactile sensing method includes: a step of estimating surface properties of the object from variation in amplitude value of the reflected wave received from the finger body; a step of receiving a reflected wave from a nail bed when the finger body is brought into contact with the object; and a step of estimating the magnitude of the finger load from the amplitude value of the reflected wave received from the bed of the finger. <P>COPYRIGHT: (C)2012,JPO&INPIT |
