マスタ・スレーブシステムとハプトグラフによる人間の動作の抽出と可視化技術

摘要

人間の感覚情報を扱う技術は，人間と人間，あるいは人rn間と機械を結ぶインタフェースとして，これまでに巨大なrn産業を生み出していることは周知の通りである。視覚・聴rn覚に相応する画像や音声処理技術は，情報通信工学の発展rnと共に急速に広まり，産業の基盤技術として欠かせないもrnのになっている。%Artificial acquisition and reproduction of human sensations are basic technologies of communication engineering. For example, auditory information is obtained by a microphone, and a speaker reproduces it by artificial means. Furthermore, a video camera and a television make it possible to transmit visual sensation by broadcasting. On the contrary, since tactile or haptic information is subject to the Newton's "law of action and reaction" in the real world, a device which acquires, transmits, and reproduces the information has not been established. From the point of view, real-world haptics is the key technology for future haptic communication engineering.rnThis paper proposes a novel acquisition method of haptic information named "haptograph". The haptograph visualizes the haptic information like photograph. Since temporal and spatial analyses are conducted to represent haptic information as the haptograph, it is possible to be recognized and to be evaluated intuitively. In this paper, the proposed haptograph is applied to visualization of human motion. It is possible to represent the motion characteristics, the expert's skill and the personal habit, and so on. In other words, a personal encyclopedia is attained. Once such a personal encyclopedia is stored in ubiquitous environment, the future human support technology will be developed.