We developed an 8.4-inch electrostatic-tactile touch display using a segmented-electrode array (30×20) as both tactile pixels and touch sensors. Each pixel can be excited independently so that the electrostatic-tactile touch display allows presenting real localized tactile textures in any shape. A driving scheme in which the tactile strength is independent of the grounding state of the human body by employing two-phased actuation was also proposed and demonstrated. Furthermore, tactile crosstalk was investigated to find it was due to the voltage fluctuation in the human body and it was diminished by applying the aforementioned driving scheme.

Diabetes mellitus is a group of metabolic diseases that cause high blood sugar due to functional problems with the pancreas or metabolism. Diabetic patients have few subjective symptoms and may experience decreased sensation without being aware of it. The commonly performed tests for sensory disorders are qualitative in nature. The authors pay attention to the decline of the sensitivity of tactile sensations, and develop a non-invasive method to detect the level of tactile sensation using a novel micro-vibration actuator that employs shape-memory alloy wires. Previously, we performed a pilot study that applied the device to 15 diabetic patients and confirmed a significant reduction in the tactile sensation in diabetic patients when compared to healthy subjects. In this study, we focus on the asymptomatic development of decreased sensation associated with diabetes mellitus. The objectives are to examine diabetic patients who are unaware of abnormal or decreased sensation using the quantitative tactile sensation measurement device and to determine whether tactile sensation is decreased in patients compared to healthy controls. The finger method is used to measure the Tactile Sensation Threshold (TST) score of the index and middle fingers using the new device and the following three procedures: TST-1, TST-4, and TST-8. TST scores ranged from 1 to 30 were compared between the two groups. The TST scores were significantly higher for the diabetic patients (P<0.05). The TST scores for the left fingers of diabetic patients and healthy controls were 5.9±6.2 and 2.7±2.9 for TST-1, 15.3±7.0 and 8.7±6.4 for TST-4, and 19.3±7.8 and 12.7±9.1 for TST-8. Our data suggest that the use of the new quantitative tactile sensation measurement device enables the detection of decreased tactile sensation in diabetic patients who are unaware of abnormal or decreased sensation compared to controls.

We have developed software that uses the R statistics software environment to automatically generate tactile graphs — i.e. graphs that can be read by blind people using their sense of touch. We released this software as a Web application to make it available to anyone, from anywhere. This Web application can automatically generate images for tactile graphs from numerical data in a CSV file. It is currently able to generate four types of graph — scatter plots, line graphs, bar charts and pie charts. This paper describes the Web application's functions, operating procedures and the results of evaluation experiments.

We present an electrostatic tactile display for stimulus localization. The 240-Hz electrostatic force was generated by the beat phenomenon in a region where excited X electrodes cross excited Y electrodes, which presents localized tactile sensation out of the entire surface. A 10.4-in. visual-tactile integrated display was successfully demonstrated.

Braille fonts allow us to easily make braille labels on capsule paper. For legibility, fonts should be printed at optimum sizes. To find the optimum sizes for Japanese braille fonts, we conducted an experiment in which a Japanese braille font was printed at various sizes on capsule paper and read and rated by young braille users. The results show that braille printed at 17 and 18 point sizes were read faster and evaluated higher than those printed at smaller or bigger sizes.

The present study aims to investigate the effect of voluntary movements on human temporal perception in multisensory integration. We therefore performed temporal order judgment (TOJ) tasks in audio-tactile integration under three conditions: no movement, involuntary movement, and voluntary movement. It is known that the point of subjective simultaneity (PSS) under the no movement condition, that is, normal TOJ tasks, appears when a tactile stimulus is presented before an auditory stimulus. Our experiment showed that involuntary and voluntary movements shift the PSS to a value that reduces the interval between the presentations of auditory and tactile stimuli. Here, the shift of the PSS under the voluntary movement condition was greater than that under the involuntary movement condition. Remarkably, the PSS under the voluntary movement condition appears when an auditory stimulus slightly precedes a tactile stimulus. In addition, a just noticeable difference (JND) under the voluntary movement condition was smaller than those under the other two conditions. These results reveal that voluntary movements alternate the temporal integration of audio-tactile stimuli. In particular, our results suggest that voluntary movements reverse the temporal perception order of auditory and tactile stimuli and improve the temporal resolution of temporal perception. We discuss the functional mechanism of shifting the PSS under the no movement condition with voluntary movements in audio-tactile integration.

For tactile feedback in mobile devices, the size and the power consumption of tactile modules are the dominant factors. Thus, vibration motors have been widely used in mobile devices to provide tactile sensation. However, the vibration motor cannot sufficiently generate a great amount of tactile sensation because the magnitude and the frequency of the vibration motor are coupled. For the generation of a wide variety of tactile sensations, this paper presents a new tactile actuator that incorporates a solenoid, a permanent magnet and an elastic spring. The feedback force in this actuator is generated by elastic and electromagnetic force. This paper also proposes a tiny tactile module with the proposed actuators. To construct a tiny tactile module, the contactor gap of the module is minimized without decreasing the contactor stroke, the output force, and the working frequency. The elastic springs of the actuators are separated into several layers to minimize the contactor gap without decreasing the performance of the tactile module. Experiments were conducted to investigate each contactor output force as well as the frequency response of the proposed tactile module. Each contactor of the tactile module can generate enough output force to stimulate human mechanoreceptors. As the contactors are actuated in a wide range of frequency, the proposed tactile module can generate various tactile sensations. Moreover, the size of the proposed tactile module is small enough to be embedded it into a mobile device, and its power consumption is low. Therefore, the proposed tactile actuator and module have good potential in many interactive mobile devices.

Existing vision substitute systems have insufficient spatial resolution to provide environmental information. To present detailed spatial information, we propose two stimulation methods to enhance transfer information using a 2-D tactile stimulator array. First, stimulators are divided into several groups. Since each stimulator group is activated alternately, the interval of stimulations can be shortened to less than the two-point discrimination threshold. In the case that stimulators are divided into two and four groups, the number of stimulators increases to twice and four times, respectively, that in the case of the two-point discrimination threshold. Further, a user selects the measurement range and the system presents targets within the range. The user acquires spatial information of the entire measurement area by changing the measurement range. This method can accurately present a range of targets. We examine and confirm these methods experimentally.

The "Proactive Desk" is a new human-machine interface for the desktop operations of computers. It provides users with tactile sensation in addition to visual sensation. Two linear induction motors underneath the desk generate a two-dimensional force to move objects and control their positions on the desktop using feedback control, and users feel tactile sensation while handling those objects. In this paper, we examined the effects of adding haptic information to simple mouse operation using the Proactive Desk. In our experiment, we used a button-type visual stimulus with and without haptic information. When using haptic conditions, three types of force feedback pattern were displayed: "Edge," "Resistance to motion" and "Attractive force," and each had three force strength conditions: no, half and full. The subject was asked to push buttons twenty times as the buttons were shown one after the other on the desk as quickly as possible. Consequently, the reaction times for pushing the button for all haptic conditions, except for the half-force condition of "Attractive force," were significantly faster than no-force (without haptic information) condition. This result shows that the haptic information was advantageous for easy operation.

There is a fatal difference in obtaining information between sighted people and the blind. Screen reading technology assists blind people in accessing digital documents by themselves helping to bridge such gap. However, these days they are becoming much more visual using various types of visual effects for sighted people to explore the information intuitively at a glance. It is very hard to convey visual effects non-visually and intuitively while retaining the original effects. In addition, it takes a long time to explore the information, since blind people use the keyboard for exploration, while sighted people use eye movement. This research aims at improving the non-visual exploration interface and improving the quality of non-visual information. Therefore, TAJODA (tactile jog dial interface) was proposed to solve these problems. It presents verbal information (text information) in the form of speech, while nonverbal information (visual effects) is represented in the form of tactile sensations. It uses a jog dial as an exploration device, which makes it possible to explore forward or backward intuitively in the speech information by spinning the jog dial clockwise or counterclockwise. It also integrates a tactile device to represent visual effects non-visually. Both speech and tactile information can be synchronized with the dial movements. The speed of spinning the dial affects the speech rate. The main part of this paper describes an experimental evaluation of the effectiveness of the proposed TAJODA interface. The experimental system used a preprocessed recorded human voice as test data. The training sessions showed that it was easy to learn how to use TAJODA. The comparison test session clearly showed that the subjects could perform the comparison task using TAJODA significantly faster (2.4 times faster) than with the comparison method that is closest to the existing screen reading function. Through this experiment, our results showed that TAJODA can drastically improve the non-visual exploration interface.

When a micromachine works inside a narrow space inside tubes and equipment such as a microfactory, a microdevice that has a visual function is indispensable. To monitor the minute shapes of microfabrication and microassembly process that are impossible to observe, fiber-optic sensors and actuators for environmental recognition devices have been developed. The devices are designed to allow stereoscopic and microscopic observation and to measure the dimensions of microparts. To achieve these goals and to realize minute structures and functions, we developed environmental recognition devices for microfabrication process with functions of far and near field observation, tactile sensing and tip articulation, for microassembly process with functions of stereoscopic observation and tip articulation. The results show that easy and safe environmental recognition is possible in the narrow spaces of a microfactory.

This paper proposes Emergent Behavior Based Architecture (EBBA) that fusions heterogeneous sensor information at the level of behavior modules. The characteristics of EBBA are as follows. i) sensor based architecture, ii) constructed by a set of concurrently executable behavior modules, iii) to have multiple methods to achieve given tasks by utilizing behavior modules, iv) a planner can control emergent behaviors. We also have developed mobile robot navigation system based on EBBA and confirmed the efficiency by experiments in the various situations.

In this paper, the fundamental characteristics of tactile recognition by electrical stimulus in order to develop a vision substitution system were described. The electrical stimulus pulse or DC voltage was applied at a touch board, and a conducting band which was connected to the ground level was fastened around a root of finger. First of all, the resistance of finger by the DC voltage was measured and the equivalent circuit of a finger was estimated. It was found that the most of resistance of this mechanism was concentrated at the contact of tip of finger and its value reached to MΩ order. And this resistance widely varied by the contact condition. The resistance of finger itself was relatively low and the contact resistance of band connectoin was about 30 kΩ. Total stray capacitance was about 26-62 nF, which was calculated by our experiments. Secondly, the minimum recognition voltage to applied stimulus pulse was measured by changing frequency, duty-ratio and voltage of pulse. It was found that the most sensitive pulse was in situation of that the frequency range was within from 60 Hz to 300 Hz, the duty-ratio of 20%, and the minimum sensitive voltage was about 13V. Lastly, this electrical stimulus pulse was applied to the touch Braille board. A touch Braille board was controlled by a computer (PC8801). In this system, an input letter from keyboard is translated to Braille code data by a computer automatically, which express the letter by the 6 points for the brind. And a Braille data is output at a touch board. By touching on the contact point of the touch board, a person can recognize Braille points by electrical stimulus. It was found that the Braille recognition by electrical stimulus pulse was available as same as it could be done by raised points.

In this letter, we study on the sensitivity to the electrical stimulus pulse for biomedical electronics for the purpose to make a tactile vision substitution system for binds. We derive the equivalent circuit of finger by measuring sensitive voltages with various touch condition and various DC voltage. And we consider to the sensitivity of finger against electrical stimulus pulse. In order to convert the sense of sight to tactile sense, we consider four types of touch condition and various types of pulse. It is shown that the sensitivity of finger to electrical stimulus pulse is determined by duty-ratio, frequency, hight of pulse and the type of touch condition. In the case that duty-ratio is about 20%, frequency is within about 60-300Hz and touch condition is A-4 type, the sensitive voltage becomes the lowest. With this result, a tactile vision substitution system can be developed and the system will be used to transfer various infomations to blinds without paper.