Papers - Minamizawa, Kouta

FEELTECH Wear: Enhancing Mixed Reality Experience with Wrist to Finger Haptic Attribution

R Umehara, H Taguchi, A Horie, Y Kamiyama, S Sakamoto, H Ishikawa, ...

ACM SIGGRAPH 2024 Emerging Technologies, 1-2  2024.07

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FEEL TECH Wear is a system that facilitates haptic interactions while keeping most of the palm free, by presenting directional force through rotational skin-stretch distribution feedback to the wrist and providing texture sensation through vibration feedback to the fingertips. With advancements in hand tracking and passthrough technologies, hand interactions in Mixed Reality (MR) environments have become more accessible, necessitating palm-free haptic feedback methods that do not hinder interactions with real objects or impair vision-based hand tracking. The hardware of FEEL TECH Wear primarily consists of two components: a hand-mounted device for each hand and a control unit located at the back of the head. The hand-mounted device is equipped with four channels of rotational skin-stretch tactors at the wrist and vibration tactors at the thumb and index finger. Using FEEL TECH Wear, three applications have been realized: haptic feedback for virtual objects, haptic augmentation for real objects, and haptic guidance towards objects.

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HaptoRoom: Using Vibrotactile Floor Interfaces To Enable Reconfigurable Haptic Interaction Onto Any Furniture Surfaces

K Tsujita, T Yoshida, K Kobayashi, A Horie, N Hanamitsu, K Minamizawa

ACM SIGGRAPH 2024 Emerging Technologies, 1-2  2024.07

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Vibrotactile interaction is an essential source of HCI and should be on a large scale, such as room scale, whereas in the past many devices have been small. However, there is a practical difficulties for implementing vibrotactile actuators and sensors to every furnitures in the room. To address this problem, our approach, HaptoRoom, archives reconfigurable ubiquitous haptic interaction to existing furniture without additional equipment by installing actuators only in the floor. A user can design detailed spatial distribution of vibrotactile pattern, leveraging with multi-point individual control of actuators array inside floor interfaces.

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The Malleable-Self Experience: Transforming Body Image by Integrating Visual and Whole-Body Haptic Stimuli

T Person, N Hanamitsu, D Hynds, S Wakisaka, K Isobe, L Mochizuki, ...

ACM SIGGRAPH 2024 Emerging Technologies, 1-2  2024.07

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The Malleable-Self Experience comprises the integration of the visual element of virtual reality (VR) with the whole-body haptic sensations of the Synesthesia X1 haptic chair. The goal is to induce a provocative experience that expands one's understanding of the self by creating a malleable perception of the body image. We explore the effects of visual and whole-body haptic integration on augmenting body image during dynamic transformations of visual representations of the body in VR. We design the plausibility of these perceptual augmentations using a specific sequence of multisensory events: (1) establishing body ownership of a virtual body anchored in the same self-located space as the participant, (2) separating the virtual body to hover above the participant's physical body, enhanced by accompanying haptic stimuli to increase proprioceptive uncertainty, and (3) transforming the virtual body with integrated visuo-haptic stimuli to sustain perceptual congruency.

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Cymatics Cup: Shape-Changing Drinks by Leveraging Cymatics

W Chen, Y Yang, KH Liu, YS Pai, J Yamaoka, K Minamizawa

Proceedings of the CHI Conference on Human Factors in Computing Systems, 1-19  2024.05

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To enhance the dining experience, prior studies in Human-Computer Interaction (HCI) and gastrophysics have demonstrated that modifying the static shape of solid foods can amplify taste perception. However, the exploration of dynamic shape-changing mechanisms in liquid foods remains largely untapped. In the present study, we employ cymatics, a scientific discipline focused on utilizing sound frequencies to generate patterns in liquids and particles-to augment the drinking experience. Utilizing speakers, we dynamically reshaped liquids exhibiting five distinct taste profiles and evaluated resultant changes in taste perception and drinking experience. Our research objectives extend beyond merely augmenting taste from visual to tactile sensations; we also prioritize the experiential aspects of drinking. Through a series of experiments and workshops, we revealed a significant impact on taste perception and overall drinking experience when mediated by cymatics efects. Building upon these findings, we designed and developed tableware to integrate cymatics principles into gastronomic experiences.

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Maintaining Continuing Bonds in Bereavement: A Participatory Design Process of Be. side

J Kim, D Uriu, G Barbareschi, Y Kamiyama, K Minamizawa

Proceedings of the CHI Conference on Human Factors in Computing Systems, 1-15  2024.05

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During the grieving process, physical objects often serve as catalysts for remembering and honouring the relationship with departed loved ones. Leveraging a participatory design approach, we created Be.side, a fully customisable multi-modal artefact that incorporates scent, sound, and heartbeat stimulation and acts as a touch-point between the deceased and the bereaved. We conducted a four-week study with three participants to understand how the artefact, continuously attuned to each participant, helped to continue bonds with the deceased. Our results show that Be.side's bespoke elements helped participants to evoke memories of the deceased. Participants created personalised rituals for remembrance. They sustained bonds by not only interacting with Be.side but also participating in the research. Finally, highlighting that remembrance can both provide comfort and deepen sadness, we discuss future design considerations.

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People with Disabilities Redefining Identity through Robotic and Virtual Avatars: A Case Study in Avatar Robot Cafe

Y Hatada, G Barbareschi, K Takeuchi, H Kato, K Yoshifuji, K Minamizawa, ...

Proceedings of the CHI Conference on Human Factors in Computing Systems, 1-13  2024.05

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Robotic avatars and telepresence technology enable people with disabilities to engage in physical work. Despite the recent popularity of the metaverse, few studies have explored the use of virtual avatars and environments by people with disabilities. In this study, seven disabled participants working in a cafe where remote customer service is provided via robotic avatars, were engaged in the development and use of personalized virtual avatars displayed on a large screen in-situ in combination with existing physical robots, creating a hybrid cyber-physical space. We conducted longitudinal semi-structured interviews to investigate the psychological changes experienced by the participants. The results revealed that mass-produced robotic avatars allowed participants to not disclose their disability if they did not want to, but also backgrounded their identities; by contrast, customized virtual avatars shaped without physical constraints, highlighted their personalities. The combined use of robotic and virtual avatars complemented each other and can support pilots in redefining their identity.

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SealMates: Supporting Communication in Video Conferencing using a Collective Behavior-Driven Avatar

Armstrong M., Yang C.L., Skiers K., Lim M., Gunasekaran T.S., Wang Z., Narumi T., Minamizawa K., Pai Y.S.

Proceedings of the ACM on Human-Computer Interaction (Proceedings of the ACM on Human-Computer Interaction)  8 ( CSCW1 ) 1 - 23 2024.04

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The limited nonverbal cues and spatially distributed nature of remote communication make it challenging for unacquainted members to be expressive during social interactions over video conferencing. Though it enables seeing others' facial expressions, the visual feedback can instead lead to unexpected self-focus, resulting in users missing cues for others to engage in the conversation equally. To support expressive communication and equal participation among unacquainted counterparts, we propose SealMates, a behavior-driven avatar in which the avatar infers the engagement level of the group based on collective gaze and speech patterns and then moves across interlocutors' windows in the video conferencing. By conducting a controlled experiment with 15 groups of triads, we found the avatar's movement encouraged people to experience more self-disclosure and made them perceive everyone was equally engaged in the conversation than when there was no behavior-driven avatar. We discuss how a behavior-driven avatar influences distributed members' perceptions and the implications of avatar-mediated communication for future platforms.

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Innermost echoes: Integrating real-time physiology into live music performances

D Hynds, G Chernyshov, D Zheng, A Uyama, J Li, K Matsumoto, ...

Proceedings of the Eighteenth International Conference on Tangible, Embedded …  2024.02

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In this paper, we propose a method for utilizing musical artifacts and physiological data as a means for creating a new form of live music experience that is rooted in the physiology of the performers and audience members. By utilizing physiological data (namely Electrodermal Activity (EDA) and Heart Rate Variability (HRV)) and applying this data to musical artifacts including a robotic koto (a traditional 13-string Japanese instrument fitted with solenoids and linear actuators), a Eurorack synthesizer, and Max/MSP software, we aim to develop a new form of semi-improvisational and significantly indeterminate performance practice. It has since evolved into a multi-modal methodology which honors improvisational performance practices and utilizes physiological data which offers both performers and audiences an ever-changing and intimate experience. In our first exploratory phase, we focused on the development of a means for controlling a bespoke robotic koto in conjunction with a Eurorack synthesizer system and Max/MSP software for controlling the incoming data. We integrated a reliance on physiological data to infuse a more directly human elements into this artifact system. This allows a significant portion of the decision-making to be directly controlled by the incoming physiological data in real-time, thereby affording a sense of performativity within this non-living system. Our aim is to continue the development of this method to strike a novel balance between intentionality and impromptu performative results.

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Impact of Vibrotactile Triggers on Mental Well-Being through ASMR Experience in VR

D Peng, T Person, X Shen, YS Pai, G Barbareschi, S Li, K Minamizawa

arXiv preprint arXiv:2404.12567  2024

Modulation of Fronto-striatal Functional Connectivity and Social Interaction Through Conveying Digital Somatic Information

T Matsuhashi, M Ito, T Kuhara, K Hosokawa, K Inukai, K Minamizawa, ...

 2024

SealMates: Improving Communication in Video Conferencing using a Collective Behavior-Driven Avatar

M Armstrong, CL Yang, K Skiers, M Lim, TS Gunasekaran, Z Wang, ...

Proceedings of the ACM on Human-Computer Interaction 8 (CSCW1), 1-23  2024

FEEL TECHWear : Enhancing Mixed Reality Experience with Wrist to Finger Haptic

Umehara, R; Taguchi, H; Horie, A; Kamiyama, Y; Sakamoto, S; Ishikawa, H; Minamizawa, K

PROCEEDINGS OF THE SIGGRAPH 2024 EMERGING TECHNOLOGIES  2024

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DexteriSync: A Hand Thermal I/O Exoskeleton for Morphing Finger Dexterity Experience

X Shen, Y Kamiyama, K Minamizawa, J Nishida

Proceedings of the 37th Annual ACM Symposium on User Interface Software and …  2024

Design and Validation of Pseudo-Force Haptic Device for Actual Walking

T Maeda, T Yoshimura, J Yamamoto, H Sakai, K Minamizawa

2024 IEEE Haptics Symposium (HAPTICS), 104-110    104 - 110 2024

ISSN  23247347

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Pedestrian navigation systems on smartphones have become integral to modern society. However, a crucial problem in pedestrian navigation is that visual and/or auditory cues can distract situational awareness while walking, which may lead to serious consequences. To address this problem, various haptic navigation devices have been developed. Among these, a pseudo-force sensation elicited by asymmetric vibrations on the skin is considered a promising method owing to its intuitive directional cues. Nevertheless, pseudo-force sensation for pedestrian navigation has yet to be well validated in actual walking situations. Here, we propose an untethered pseudo-force haptic device for pedestrian navigation. Our device controls the direction of pseudo-force sensation by delivering asymmetric vibrations to the fingertips using a pair of vibrotactile actuators. Perceptual and navigation experiments were conducted to examine the effectiveness of the proposed pseudo-force navigation device. Our results suggest that pseudo-force navigation is effective during actual walking.

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Brain Body Jockey project: Transcending Bodily Limitations in Live Performance via Human Augmentation

G Barbareschi, S Zhou, A Ryoichi, M Kawaguchi, M Armstrong, M Ogino, ...

The 26th International ACM SIGACCESS Conference on Computers and …  2024

Augmenting perceived stickiness of physical objects through tactile feedback after finger lift-off

K Minamizawa, Y Inoue, T Kurogi

Frontiers in Robotics and AI 11, 1415464 11 2024

ISSN  2296-9144

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Haptic Augmented Reality (HAR) is a method that actively modulates the perceived haptics of physical objects by presenting additional haptic feedback using a haptic display. However, most of the proposed HAR research focuses on modifying the hardness, softness, roughness, smoothness, friction, and surface shape of physical objects. In this paper, we propose an approach to augment the perceived stickiness of a physical object by presenting additional tactile feedback at a particular time after the finger lifts off from the physical object using a thin and soft tactile display suitable for HAR. To demonstrate this concept, we constructed a thin and soft tactile display using a Dielectric Elastomer Actuator suitable for HAR. We then conducted two experiments to validate the effectiveness of the proposed approach. In Experiment 1, we showed that the developed tactile display can augment the perceived stickiness of physical objects by presenting additional tactile feedback at appropriate times. In Experiment 2, we investigated the stickiness experience obtained by our proposed approach and showed that the realism of the stickiness experience and the harmony between the physical object and the additional tactile feedback are affected by the frequency and presentation timing of the tactile feedback. Our proposed approach is expected to contribute to the development of new applications not only in HAR, but also in Virtual Reality, Mixed Reality, and other domains using haptic displays.

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" I Wanted to Create my Ideal Self": Exploring Avatar Perception of LGBTQ+ Users for Therapy in Virtual Reality

A Kundu, G Barbareschi, M Kawaguchi, Y Yano, M Ohashi, K Kitaoka, ...

arXiv preprint arXiv:2409.00383  2024

テレビ局のメタバース事業における可搬式床型触覚提示システムの活用

辻田喜琉， 山村風子， 香川凌也， 横井勝， 吉田貴寿， 堀江新， 南澤孝太

エンタテインメントコンピューティングシンポジウム 2024 論文集 2024, 286-289  2024

ロボットアバターを介した身体融合

田中由浩， 南澤孝太， 湯川光

バイオメカニズム学会誌= Journal of the Society of Biomechanisms Japan/バイオメカニ …  2024

SeaHare: An omidirectional electric wheelchair integrating independent, remote and shared control modalities

G Barbareschi, A Ryoichi, M Kawaguchi, M Takeda, K Minamizawa

The 26th International ACM SIGACCESS Conference on Computers and …  2024

asmVR: Enhancing ASMR Tingles with Multimodal Triggers Based on Virtual Reality

D Peng, T Person, K Skierś, R Cui, M Armstrong, K Minamizawa, YS Pai

SIGGRAPH Asia 2023 XR, 1-2  2023.11

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Anxiety and stress have gradually become commonplace mental health problems afflicting many people worldwide. We propose asmVR, a novel approach to enhance the autonomous sensory meridian response (ASMR) experience by combining multimodal triggers including visual, auditory, tactile, and emotional stimuli. asmVR helps users enhance ASMR tingling sensations through online and offline modes, provides realistic VR environments and remote avatar ASMRtist for users, showcasing its potential for stress relief, emotion regulation, and customization. Additionally, it reveals new possibilities for the future application of VR in the field of psychotherapy.

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FoodMorph: Changing Food Appearance Towards Less Unhealthy Food Intake

R Cui, W Chen, D Peng, K Minamizawa, YS Pai

SIGGRAPH Asia 2023 Posters, 1-2  2023.11

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Human dietary experiences are influenced by multiple senses. To promote healthy eating and reduce the consumption of unhealthy food, we have developed FoodMorph, a virtual reality system that immerses users in visually simulated food textures that are inedible. By presenting users with these textures, FoodMorph aims to diminish interest in and intake of unhealthy food while also assessing the dining enjoyment associated with common non-food textures. We found that concrete textures on food tend to lead to the lowest enjoyment score, which potentially effects their dietary habits.

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Conversation Echo: Communication in virtual environments that reflects conversation contents

S Hachisu, S Wakisaka, K Minamizawa

SIGGRAPH Asia 2023 Posters, 1-2  2023.11

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In this study, we propose Conversation Echo, a system that reflects the topics of conversation in a VR environment in real time. This method uses AI to convert speech data into text, extract conversation topics, and generate panoramic images to generate a VR environment, which dynamically changes the environment in real-time. This method aims to realize an experience that generates conversation topics and inspiration.

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asmVR: VR-Based ASMR Experience with Multimodal Triggers for Mental Well-Being

D Peng, T Person, R Cui, M Armstrong, K Minamizawa, YS Pai

SIGGRAPH Asia 2023 Posters, 1-2  2023.11

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Individuals are besieged by anxiety and stress throughout the world. Solutions to improve mental well-being can vary, and Autonomous Sensory Meridian Response (ASMR) is one potential method that has proven to be able to reduce stress. To that end, we introduce asmVR, a novel approach to enhancing ASMR experiences using multi-modal triggers. Combining online and offline modes, asmVR enhances ASMR tingling, offering immersive VR environments and remote ASMRist embodiments. Initial user testing shows tingles enhance and stress relief potential, along with new possibilities for VR in psychological therapy.

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Multichannel Haptic Communication Platform with Wearable Sensing and Display

H Taguchi, Y Kamiyama, K Kan, Y Ju, A Horie, Y Tanaka, H Ishikawa, ...

SIGGRAPH Asia 2023 Emerging Technologies, 1-2  2023.11

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Our goal has been to create an environment in which anyone can take advantage of tactile technology. Content that incorporates tactile sensations in addition to visual and auditory sensations will activate people's interaction with it. On the other hand, both sensing and display are complicated to create high-quality content, and ease of use is lost. In this paper, we propose a platform that can easily develop multi-channel vibrotactile contents by utilizing existing workflows. By preparing a 4-channel fingertip-mounted vibrotactile device as a display, a high-resolution experience with less load during the experience is realized. We demonstrate sensor-based pre-recorded or real-time multi-channel tactile contents and show the concept of near-future tactile technology including use cases.

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Waylet: Self-contained haptic device for park-scale interactions

T Maeda, J Yamamoto, T Yoshimura, H Sakai, K Minamizawa

SIGGRAPH Asia 2023 Emerging Technologies, 1-2  2023.11

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Although various haptic devices have been proposed so far, most of them are limited to use in laboratory or indoor environments, because such haptic devices are wired to external equipment for power supply and control. This can be a critical issue, particularly when using them in freely moving situations. In this study, we proposed a self-contained haptic device called Waylet for park-scale interactions. Waylets can provide translational and rotational pseudo-forces via asymmetric vibrations. To demonstrate the feasibility of our concept, we demonstrate an intuitive haptic navigation system in a park-scale mixed-reality environment with haptic rendering.

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Transcale: Embodiment Transition Toward Multi-Verse Exploration

H Onoda, S Wakisaka, T Saito, K Minamizawa

SIGGRAPH Asia 2023 XR, 1-2  2023.11

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Transcale is a VR experience where the users can change the body scale smoothly while walking. By continuously modifying their perceived body scale, this interaction method provides the users to explore the virtual world from various points of view from a dwarf to a giant.

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Synced Drift: A Novel Sport Using a System that Harmonises Human Movement to Transcend Distance and Ability

R Ando, G Barbareschi, M Kawaguchi, K Minamizawa

SIGGRAPH Asia 2023 Emerging Technologies, 1-2  2023.11

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"Synced Drift"provides a new inclusive sport experience that allows two individuals to play a drifting race together while sharing a single body. Synced drift leverages a system consisting of a large-diameter omni-wheel mechanism enabling omnidirectional movement, two sensing seats that detects the user's center of gravity shift, a mobile vehicle, and a viewpoint sharing system. The movement of the mobile vehicle is achieved by proportional control of the body movements acquired by the two sensing seats, one placed on the vehicle and one remote, from two or more individuals. The speed and direction are adjusted based on the harmonization of the inputs from the two users. This system allows people who were previously unable to participate in sports due to physical limitations, for example people with spinal cord injuries, or those with who had a stroke, to participate equally, regardless of individual impairments. Using the above system, the rules of the sport were designed and implemented. In this demonstration, the system explores the possibility of people coming together, racing and competing as one, transcending physical characteristics and physical locations.

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Somatic Music: Enhancing Musical Experiences through the Performer's Embodiment

A Uyama, Y Kamiyama, S Wakisaka, A Horie, T Saito, K Minamizawa

SIGGRAPH Asia 2023 Posters, 1-2  2023.11

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Music serves as a tangible embodiment of the performer’s expression, bearing a distinct musicality that transcends auditory perception. This study delves into the distinctive musicality inherent to musicians through physical data analysis. It introduces a novel approach to the auditory experience by incorporating tactile stimulation via vibration and pressure to present an innovative channel for conveying musicality to the audience. The primary aim is to enhance the realm of music appreciation by amplifying the scope of performers’ expressive capacities, thereby revolutionizing the conventional paradigm of music experiences.

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Phantom Walls: Spatial perception and navigation without vision

T Ikeda, S Wakisaka, K Minamizawa

SIGGRAPH Asia 2023 Emerging Technologies, 1-2  2023.11

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"Phantom Walls"is a novel technique that establishes continuous spatial perception without vision. By creating an auditory environment where obstacles emit sounds, users can perceive and navigate around visually imperceptible "Phantom"obstacles by listening to the generated "soundscapes". This method allows individuals to perceive and avoid these obstacles while walking without vision.

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OwnDiffusion: A Design Pipeline Using Design Generative AI to preserve Sense Of Ownership

Wu Y., Minamizawa K., Pai Y.S.

Proceedings - SIGGRAPH Asia 2023 Posters, SA 2023  2023.11

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Generative Artificial Intelligence (AI) has been a fast-growing technology, well known for generating high-quality design drawings and images in seconds with a simple text input. However, users often feel uncertain about whether generative art should be considered created by AI or by themselves. Losing the sense of ownership of the outcome might impact the learning process and confidence of novice designers and design learners who seek to benefit from using Generative Design Tools. In this context, we propose OwnDiffusion, a design pipeline that utilizes Generative AI to assist in the physical prototype ideation process for novice product designers and industrial design learners while preserving their sense of ownership. The pipeline incorporates a prompt weight assessing tool, allowing designers to fine-tune the AI’s input based on their sense of ownership. We envision this method as a solution for AI-assisted design, enabling designers to maintain confidence in their creativity and ownership of a design.

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Heightened empathy: A multi-user interactive experience in a bioresponsive virtual reality

M Armstrong, K Skiers, D Peng, TS Gunasekaran, A Kundu, T Person, ...

ACM SIGGRAPH 2023 immersive pavilion, 1-2  2023.07

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We present Heightened Empathy, a multi-user interactive experience in bioresponsive virtual reality (VR) designed to visualize emotional states and stimulate different types of empathy between two players in various interactive modes. The experience immerses users in a VR representation of each other's emotional state, while also reflecting this to the audience using a table-top social robot and projection as they interact with each other. In competitive mode, the goal is to promote cognitive empathy where each user needs to understand the new emotional representation in VR to win. In communication mode, we have users act on one another verbally to promote emotional empathy. The experience aims to enhance empathy perception by placing the players in virtual environments that require them to understand, share, and act on each other's perspectives and emotions.

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"I am both here and there" Parallel Control of Multiple Robotic Avatars by Disabled Workers in a Café

Barbareschi G., Kawaguchi M., Kato H., Nagahiro M., Takeuchi K., Shiiba Y., Kasahara S., Kunze K., Minamizawa K.

Conference on Human Factors in Computing Systems - Proceedings  2023.04

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Robotic avatars can help disabled people extend their reach in interacting with the world. Technological advances make it possible for individuals to embody multiple avatars simultaneously. However, existing studies have been limited to laboratory conditions and did not involve disabled participants. In this paper, we present a real-world implementation of a parallel control system allowing disabled workers in a café to embody multiple robotic avatars at the same time to carry out different tasks. Our data corpus comprises semi-structured interviews with workers, customer surveys, and videos of café operations. Results indicate that the system increases workers' agency, enabling them to better manage customer journeys. Parallel embodiment and transitions between avatars create multiple interaction loops where the links between disabled workers and customers remain consistent, but the intermediary avatar changes. Based on our observations, we theorize that disabled individuals possess specific competencies that increase their ability to manage multiple avatar bodies.

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Dementia eyes: Co-Design and Evaluation of a dementia education augmented reality experience for medical workers

X Shen, YS Pai, D Kiuchi, K Bao, T Aoki, H Meguro, K Oishi, Z Wang, ...

Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems …  2023.04

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Dementia describes a syndrome of cognitive degeneration, and Behavioural and Psychological Symptoms of Dementia (BPSD) is the non-cognitive symptom. BPSD can be improved by care services. To aid better care service, we explore the potential of using Augmented Reality (AR) to support dementia education for medical workers in three steps: (1) We explore medical workers' perspective on dementia care lived experience and XR, (2) we co-design an educational experience containing an AR-based application and a 5-min activity with medical workers, (3) we evaluate the effectiveness of the system through a mixed method study. Our result shows that the AR experience successfully touches participants, and motivates them to reflect on the provision of care service. On this basis, we discuss the elements and challenges of designing XR-enabled dementia education for users unfamiliar with novel technology, and the potential of using XR in clinical education.

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Towards Embodying Emotions in Play with Neurodivergent Children using Haptic Technologies

Y Ju, M Shibasaki, CC Kim, K Kunze, K Minamizawa

Extended Abstracts of the 2023 CHI Conference on Human Factors in Computing …  2023.04

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As neurodivergent cases in children are steadily increasing, we are also seeing increased awareness regarding personalized neurological development and efforts towards social inclusion. Children struggling with these conditions should engage in education curricula custom-tailored and personalized for their individual needs. In this initial work, we describe the first steps of the development of an interactive system that created a multi-sensory environment embedded into a participatory performance to help neurodivergent children learn about emotions. We first report on the co-design process and research insights from our work integrating haptic technology and neurodivergent children's emotion learning activity. Then we report on a study in which 28 children were involved in testing the implementation of our system and share our insights that we gained about designing haptic interventions for neurodivergent children and the collaborative process with their instructors and other related parties.

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Phantom Undulations: Remote Physiological Sensing in Abstract Installation Works

D Hynds, D Zheng, Y Zhang, H Ma, K Ragozin, G Chernyshov, JA Ward, ...

Proceedings of the Augmented Humans International Conference 2023, 367-370    367 - 370 2023.03

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Phantom Undulations is a mixed-media work in which an artist's physiological data is being used remotely to manipulate the sounds and visuals of an abstract artifact in a gallery setting. This work relies heavily on the concept of showing the artist's presence or liveness in an abstract and remote manner through changes in the harmony, rhythm, and timbre of a loosely structured soundscape as well as the physical appearance of the artifact. We propose a method of utilizing real time physiological sensing data through a custom built sensing wristband and accompanying software. This system reads the physiological data of the artist and sends it to the Internet, where it can be received by the artifact anywhere on Earth. In addition to the artist's physiological data, we also offer a way for the audience to incorporate their own data into the work via several sensing wristbands which will accompany the artifact. Through this collaborative process, we wish to invite the audience to join the artist in manipulating the sonic and visual characteristics of this artifact and create a contrapuntally fluid and responsive musical experience.

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Linking audience physiology to choreography

J Han, G Chernyshov, M Sugawa, D Zheng, D Hynds, T Furukawa, ...

ACM Transactions on Computer-Human Interaction 30 (1), 1-32 (ACM Transactions on Computer-Human Interaction)  30 ( 1 )  2023.03

ISSN  10730516

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The use of wearable sensor technology opens up exciting avenues for both art and HCI research, providing new ways to explore the invisible link between audience and performer. To be effective, such work requires close collaboration between performers and researchers. In this article, we report on the co-design process and research insights from our work integrating physiological sensing and live performance. We explore the connection between the audience's physiological data and their experience during the performance, analyzing a multi-modal dataset collected from 98 audience members. We identify notable moments based on HRV and EDA, and show how the audience's physiological responses can be linked to the choreography. The longitudinal changes in HRV features suggest a strong connection to the choreographer's intended narrative arc, while EDA features appear to correspond with short-term audience responses to dramatic moments. We discuss the physiological phenomena and implications for designing feedback systems and interdisciplinary collaborations.

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Accessible Parallel Embodiment of Multiple Robotic Avatars in a Cafe

G Barbareschi, M Kawaguchi, H Kato, K Takeuchi, M Nagahiro, Y Shiiba, ...

XRDS: Crossroads, The ACM Magazine for Students 29 (2), 36-41  2023

The Empathic Metaverse: An Assistive Bioresponsive Platform For Emotional Experience Sharing

Y Suen Pai, M Armstrong, K Skiers, A Kundu, D Peng, Y Wang, ...

arXiv e-prints, arXiv: 2311.16610  2023

The Empathic Metaverse: An Assistive Bioresponsive Platform For Emotional Experience Sharing

YS Pai, M Armstrong, K Skiers, A Kundu, D Peng, Y Wang, ...

arXiv preprint arXiv:2311.16610  2023

“I am both here and there” Parallel Control of Multiple Robotic Avatars by Disabled Workers in a Café

G Barbareschi, M Kawaguchi, H Kato, M Nagahiro, K Takeuchi, Y Shiiba, ...

Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems …  2023

サイバネティック・アバターは電気こたつで夢を見るか?

渡邊淳司， 南澤孝太， 岩佐明彦， 福島佳浩， 鍵直樹， 伊藤香織， 海塩渉， ...

建築雑誌= Journal of architecture and building science 138 (1780), 32-39  2023

ロボットアバターの最新技術動向

川口碧， 南澤孝太

映像情報メディア学会誌= The journal of the Institute of Image Information and …  2023

Enhancing Episodic Scene Imagery by Combining Pseudo-Action and Ambient Haptic Stimuli

Ou Nao, Hanamitsu Nobuhisa, Wakisaka Sohei, Mizuguchi Tetsuya, Minamizawa Kouta

Transactions of the Virtual Reality Society of Japan (THE VIRTUAL REALITY SOCIETY OF JAPAN)  28 ( 4 ) 339 - 348 2023

ISSN  1344011X

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<p>In the fields of Human-Computer Interaction (HCI) and Virtual Reality (VR), there is an increasing focus on well-being. While research has underscored the potential of multimodal technologies to foster mental tranquility, the integration of scene imagery linked to nostalgic emotions remains under-investigated. In our research, we developed an immersive whole-body haptic experience, guiding participants through scene imagery supplemented by Pseudo-action stimuli, including actions like walking and opening a door, as well as Ambient stimuli, such as wind and everyday sounds. The results confirmed that participants effectively reminisced about serene and comforting places. Pseudo-action stimuli bolstered sensory ownership sensations, whereas Ambient stimuli provided a platform for open interpretation. In conclusion, our study suggests that whole-body haptic technologies in Virtual Reality can offer a nuanced approach to creating scene representations, potentially enhancing user immersion.</p>

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Sustained Attention by Haptic Feedback During a Storytelling for Preschool Children

Shibasaki Mina, Kamiyama Youichi, Obata Koichi, Wakamoto Yusuke, Kishi Keisuke, Hasegawa Takayuki, Tsuchiya Shinkuro, Matsuda Soichiro, Minamizawa Kouta

Transactions of the Virtual Reality Society of Japan (THE VIRTUAL REALITY SOCIETY OF JAPAN)  28 ( 4 ) 349 - 359 2023

ISSN  1344011X

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<p>Storytelling in libraries is an opportunity to share experiences with parents and children. However, it is challenging in group storytelling to draw children’s attention to a picture book, because children’s sustained attention to picture books is affected by their age, situation, and individual language ability. Therefore, we have developed a cushion that provides haptic feedback during storytelling so that children can feel the picture book world through their bodies. We then investigated the effects of storytelling using haptic feedback compared to normal storytelling. The results suggest the possibility of maintaining children’s sustained attention to picture books by the provided haptic feedback.</p>

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Co-Operation of a Dual-Arm Robotic Avatar Through Body Integration of Multi-Person

T Sato, H Yukawa, K Minamizawa, Y Tanaka

2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC …    1030 - 1036 2023

ISSN  1062922X

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Humans have spatiotemporal limitations. Robotic avatar technology enables the expansion of an individual's innate physical characteristics, physical capabilities, and perceptual and cognitive abilities. Our research group has focused on scalability and co-creativity through co-operation and collaboration between humans, and has developed a system in which two operators are physically integrated into a single robotic arm. In particular, to enable more human-like tasks, such as receiving and delivering, we extended the system to a dual-arm robotic avatar and built a system in which multiple persons can integrate their bodies, with the expectation of further task efficiency and human extension. Specifically, we investigated the workability and operator cognition of the dual-arm robotic avatar when it was operated by one, two, or three individuals. The results showed that stability improved with the three-person operation. Furthermore, it was found that co-operation among multiple persons can overcome the original individual abilities for operation. In the three-person condition, all participants obtained a higher feeling of control than the actual amount of manipulation, which has potential applications in skill transfer. The three-person condition tended to be better, validating the usefulness of multi-person body integration.

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Feel What You Don’t Hear: A New Framework for Non-Aural Music Experiences

A Uyama, D Hynds, D Zheng, G Chernyshov, T Saito, K Kunze, ...

Proceedings of the International Conference on New Interfaces for Musical …  2023

Project Corvus: A Virtual Reality Horror Tool for Improving Self-Efficacy

H He, CC Kim, YS Pai, K Minamizawa

2023 IEEE International Symposium on Mixed and Augmented Reality Adjunct …    652 - 656 2023

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Horror is often associated with a negative connotation. Yet, in today's popular culture, the benefits of thrills have become an engaging topic. Why are people drawn to the supposedly repulsive contents of horror? It is an inherent psychological trait we all possess called morbid curiosity. Can we better investigate this behavior towards horror to confront our fears and help us build confidence? In Project Corvus, we explore the ways in which virtual reality (VR) and psychological programs such as exposure therapy can be combined to inform the psycho-educational opportunities in this horror-themed direction. More specifically, to leverage people's morbid curiosity towards horror for the development of self-efficacy. Through short repetition of horror virtual experiences, the goal is to design an assistive program that can help the participants develop their skills in controlling their emotions even when facing real crises in the future.

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Virtual journalist: measuring and inducing cultural empathy by visualizing empathic perspectives in VR

AA Fernandez, CC Kim, TS Gunasekaran, YS Pai, K Minamizawa

2023 IEEE International Symposium on Mixed and Augmented Reality Adjunct …    667 - 672 2023

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The concept of cultural empathy, which entails the ability to empathize with individuals from diverse cultural backgrounds, has garnered attention across multiple disciplines. However, there has been limited research focusing on the utilization of immersive experiences to deliver journalistic encounters that foster cultural empathy. In this regard, we propose the development of Virtual Journalist, a virtual reality (VR) system that immerses users in the role of a journalist, allowing them to consume 360° video documentaries and capture moments that evoke cultural empathy through photography. Furthermore, this system integrates both cognitive and affective dimensions of empathy by linking physiological data, namely electrodermal activity (EDA) and heart rate variability (HRV), to the captured photographs. Our findings suggest that the impact of Virtual Journalist varies based on the user's cultural background, and we have observed that empathic accuracy can be achieved by combining user-generated photographs with corresponding physiological data.

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Redundant Multi-DoF Robot Arm Co-operation Through the Body Integration System

H Suzuki, H Yukawa, K Minamizawa, Y Tanaka

2023 32nd IEEE International Conference on Robot and Human Interactive …    2671 - 2676 2023

ISSN  19449445

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The human arm has seven DoF. If the human arm were more redundant, it would improve workability. However, intuitive manipulation of redundant arms is difficult due to the complexity of the input system or the limitations of the human arm. In this study, we constructed a system in which multiple operators integrate their bodies to intuitively operate a redundant multi-DoF robotic arm. The robotic arm was assembled by connecting two arms, and the roles of each section -distal arm and proximal arm- were assigned to different operators. First, vibrotactile feedback methods to the users based on the operation movement were investigated to compensate for the recognition of the partner's movement. Three types of feedback methods - the actions of both oneself and one's partner, the actions of the partner, and none - were compared in order to improve the body awareness. It was shown that feedback of the movement from the partner who operates the proximal robotic arm significantly enhanced the sense of body ownership. Then, the proposed co-operation of the redundant robotic arm was evaluated in the workability. Two types of manipulation methods - a single-operator system that switched the target robotic arm and a multi-DoF body-integration system used by two people - were compared through an object-manipulation task involving obstacle avoidance. It was shown that the two-person co-operation through body integration system to be faster than the single-person operation.

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Embodied coordination based on integration of the body through a collaborative robotic avatar

Hagiwara Takayoshi, Yukawa Hikari, Nishimura Takumi, Tanada Ryohei, Tanaka Yoshihiro, Minamizawa Kouta

Transactions of the Virtual Reality Society of Japan (THE VIRTUAL REALITY SOCIETY OF JAPAN)  27 ( 4 ) 435 - 446 2022.12

ISSN  1344011X

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<p>Collaborative action enables individuals to exceed the limits of their abilities, and encourages new creativity. These are promoted by VR, computer-assisted systems, sensory sharing, etc., but the body is independent. In this paper, we propose a Collaborative Avatar, in which two people are integrated into a single robotic avatar, and investigate the possibilities for embodied collaboration through the avatar with others who have different skills and experiences. This system integrates the movements of two people in any ratio, and sharing each other’s senses, to embody them into a single robotic arm. Evaluation test showed that this system induced the equivalent sense of agency, body ownership, and usability as when the robot was operated by alone. We also found that the task performance was improved when the robot was operated by two people, and that the two people’s movements were synchronized. Interestingly, we found a correlation between the sense of agency and usability when the robot was operated by two people, but no correlation when operated by one person. It is expected that the Collaborative Avatar will improve our abilities and induce various embodied coordination between people, which will become a new way of collaboration in the cyber-physical society.</p>

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It’s Me: VR-based Journaling for Improved Cognitive Self-Regulation

Y Wang, YS Pai, K Minamizawa

SIGGRAPH Asia 2022 Posters, 1-2  2022.12

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Journaling is a well-known evidence-based strategy for practicing better self-regulation and self-awareness in daily life. It is also an effective way for reducing the effects of negative emotions like anxiety and depression. We explore the combination of virtual reality (VR) and a body-tracking mirror as a cognitive activity in the form of VR journaling. VR-based journaling aims to build cognitive reappraisal, self-reflection, and autonomic emotion regulation in a sustainable way. The user performs in front of the mirror, using body-tracking to help them keep a daily journal. Considering that looking into the mirror is already a daily habit for most people, it does not require the users to form a new habit when trying to do journaling. Furthermore, it activates creativity by encouraging the user to use their body language as a story-telling tool.

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Identification of an alternative glycyrrhizin metabolite causing liquorice-induced pseudohyperaldosteronism and the development of ELISA system to detect the predictive biomarker (vol 12, 688508, 2021)

Ishiuchi, K; Morinaga, O; Yoshino, T; Mitamura, M; Hirasawa, A; Maki, Y; Tashita, Y; Kondo, T; Ogawa, K; Lian, FY; Ogawa-Ochiai, K; Minamizawa, K; Namiki, T; Mimura, M; Watanabe, K; Makino, T

FRONTIERS IN PHARMACOLOGY 13 2022.11

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SpiceWare: Simulating Spice Using Thermally Adjustable Dinnerware to Bridge Cultural Gaps

S Yang, YS Pai, K Minamizawa

Adjunct Proceedings of the 35th Annual ACM Symposium on User Interface …  2022.10

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Preference and tolerance towards spicy food may vary depending on culture, location, upbringing, personality and even gender. Due to this, spicy food can often effect the social interaction on the dining table, especially if it is presented as a cultural dish. We propose SpiceWare, a thermally adjustable spoon that alters the perception of spice to improve cross-cultural communication. SpiceWare is a 3D-printed aluminium spoon that houses a thermal peltier that provides thermal feedback up to 45°C which can alter the taste perception of the user. As an initial evaluation, we conducted a workshop among participants of varying cultural backgrounds and observe their interaction when dining on spicy food. We found that the overall interaction was perceived to be more harmonious, and we discuss potential future works on improving the system.

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Sensorimotor control sharing with vibrotactile feedback for body integration through avatar robot

Y Tanaka, T Katagiri, H Yukawa, T Nishimura, R Tanada, I Ogura, ...

IEEE Robotics and Automation Letters 7 (4), 9509-9516 (IEEE Robotics and Automation Letters)  7 ( 4 ) 9509 - 9516 2022.10

ISSN  2377-3766

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An avatar robot can be operated by multiple users, augmenting the operation of a single user. In this study, we assembled a collaborative operation system for a 7-DoF robotic arm with a gripper controlled by two users. The users share the role of controlling the robot with one user controlling the arm and the other controlling the gripper. The actions of the two users must be seamlessly coordinated to ensure smooth and precise operations. Therefore, this study aimed to investigate vibrotactile feedback to promote recognition of the actions of a partner. A pick-and-place task was considered as a basic operation. First, an intensity adjustment was developed for vibrotactile feedback to ensure linear sensitivity and its usefulness was verified. An estimation test for the reaching motion showed that the target position was estimated accurately based on velocity feedback, indicating that the participants imaged the arm motion. Subsequently, collaboration tests with and without vibrotactile velocity feedback revealed a potential effect of vibrotactile feedback in terms of reducing the time required for completing the target task. Our experimental results indicate that vibrotactile feedback for partner's motion can be applied to achieve smooth collaborative operations using an avatar robot.

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Frisson waves: exploring automatic detection, triggering and sharing of aesthetic chills in music performances

Y He, G Chernyshov, J Han, D Zheng, R Thomsen, D Hynds, M Liu, ...

Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous … (Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies)  6 ( 3 )  2022.09

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Frisson is the feeling and experience of physical reactions such as shivers, tingling skin, and goosebumps. Using entrainment through facilitating interpersonal transmissions of embodied sensations, we present "Frisson Waves"with the aim to enhance live music performance experiences. "Frisson Waves"is an exploratory real-time system to detect, trigger and share frisson in a wave-like pattern over audience members during music performances. The system consists of a physiological sensing wristband for detecting frisson and a thermo-haptic neckband for inducing frisson. In a controlled environment, we evaluate detection (n=19) and triggering of frisson (n=15). Based on our findings, we conducted an in-the-wild music concert with 48 audience members using our system to share frisson. This paper summarizes a framework for accessing, triggering and sharing frisson. We report our research insights, lessons learned, and limitations of "Frisson Waves".

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Imageflowing-enhance emotional expression by reproducing the vital signs of the photographer

Q Mu, G Chernyshov, Z Wang, D Hynds, D Zheng, K Minamizawa, ...

ACM SIGGRAPH 2022 Emerging Technologies, 1-2  2022.07

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ImageFlowing is a 'living' photograph that reproduces the biometric signs of the photographer. Viewers can feel how the photographer felt through photographer's breathing, heartbeats and skin temperature. We extend a two-dimensional picture into a multi-modal experience, aiming at creating a tighter emotional link between the viewer and the photographer.

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Future Life With Cybernetic Avatar Technologies for Sharing Diverse Skills and Experiences

MINAMIZAWA Kouta

TRENDS IN THE SCIENCES (Japan Science Support Foundation)  27 ( 5 ) 5_71 - 5_73 2022.05

ISSN  13423363

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<p>　デジタル空間と現実空間とが融合し、人々が空間を超えて社会的活動を行うメタバースの時代において、人々が個人の身体の制約や限界に囚われることなく自由自在に行動することができる「もうひとつの身体」を実現すべく、ムーンショット研究開発事業「身体的共創を生み出すサイバネティック・アバター技術と社会基盤の開発」では、人々が自身の能力を最大限に発揮し、多様な人々の多彩な技能や経験を共有できるサイバネティック・アバター（CA）技術の研究開発に取り組んでいる。技能や経験を相互に利活用する際の制度的・倫理的課題を考慮して、人と社会に調和した、身体的な技能や経験を流通する社会基盤を構築し、CAを通じて人と人との新たな身体的共創を生み出し、誰もが自在な活動や挑戦を行える、2050年の多様性と包摂性の高い未来社会の実現を目指す。</p>

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Synesthesia X1-2.44 : A Synesthetic Experience Device Employing Sound, Haptic and Lighting

Hanamitsu Nobuhisa, Tai Hideaki, Motoki Tatsuya, Sato Ayahiko, Shimizu Keitaro, Kamiyama Yoichi, Minamizawa Kouta, evala, Mizuguchi Tetsuya

Transactions of the Virtual Reality Society of Japan (THE VIRTUAL REALITY SOCIETY OF JAPAN)  27 ( 1 ) 51 - 64 2022.03

ISSN  1344011X

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<p>This paper proposes a chair-based synesthetic experience device, Synesthesia X1-2.44, which utilizes auditory, haptic, and visual sensations. In order to realize a synesthetic experience, we designed the chair that includes 44 haptic actuators, two speakers and 5 stage lights, and exhibited it at Media Ambition Tokyo 2019. When discussing this work, we observed “sense of stretching and contracting of the body”, “sense of floating/sinking”, and “sense of disappearance of the body”. In addition, the combination of whole-body haptic sensation and spatial acoustics with sounds felt from inside/outside the body affects the autonomic nervous system and induces a pleasant state, and create a representation different from the usual auditory and haptic experiences.</p>

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Parallel Ping-Pong: Exploring parallel embodiment through multiple bodies by a single user

K Takada, M Kawaguchi, A Uehara, Y Nakanishi, M Armstrong, A Verhulst, ...

Proceedings of the Augmented Humans International Conference 2022, 121-130    121 - 130 2022.03

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We propose Parallel Ping-Ping, a system that realizes "Parallel Embodiment", the experience of a single user controlling multiple bodies simultaneously. The user plays ping-pong by controlling 2 robot arms using a Virtual Reality (VR) controller, while looking at 2 tables through a Head Mounted Display (HMD). The computer constantly calculates the ball trajectory and the motion for the robot arm to hit the balls back automatically through color cameras. Based on this calculation, the system integrates the motion of the user's controller, maintaining the sense of agency of the robot arms even though single user plays ping-pong with two opponents. In addition, the user's view through the HMD is automatically switched to the appropriate table according to the calculated position and direction, so that the user can perceive both tables' situation smoothly. We exhibited a three-day Parallel Ping-Pong demonstration and surveyed 142 participants about their perception while controlling multiple bodies. In this paper, we introduce the Parallel Ping-Pong system framework and the insights from the survey of demonstration. We also discuss the design implication for Parallel Embodiment based on these results.

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身体融合ロボットアバターの可能性

田中由浩， 萩原隆義， 湯川光， 南澤孝太

ロボット/日本ロボット工業会 編, 50-53  2022

A Psychological and Behavioral Study on Remote Audio-Visual-Tactile Communication System with Pressure Stimulation

K Inukai, J Watanabe, K Minamizawa, Y Tanaka

Haptics: Science, Technology, Applications: 13th International Conference on … 13235   422 - 425 2022

ISSN  0302-9743

asmVR: Light Triggers in Virtual Reality to Induce ASMR.

D Peng, YS Pai, K Minamizawa

ICAT-EGVE (Posters and Demos), 17-18  2022

ExoSpine: Artificial Muscle-Driven Spine for Posture Correction

Xie, YT; Pai, YS; Minamizawa, K

HAPTICS: SCIENCE, TECHNOLOGY, APPLICATIONS, EUROHAPTICS 2022 13235   504 - 506 2022

ISSN  0302-9743

HumanCopter: Wearable Drone System for Remote Multi-Directional Teleoperation.

WK Fei, L Zhou, W ZiYue, K Minamizawa, YS Pai

ICAT-EGVE (Posters and Demos), 19-20  2022

ICAT-EGVE 2022-International Conference on Artificial Reality and Telexistence and Eurographics Symposium on Virtual Environments-Posters and Demos

R Kondo, T Teo, PH Chen, N Nishida, Y Iwasaki, H Iwata, R Izumi, ...

ICAT-EGVE 2022-International Conference on Artificial Reality and …  2022

Information processing device and information processing method

T Nashida, M Mikami, K Minamizawa, M Inami, T Kurogi, M Takeda, ...

US Patent 11,315,599  2022

Moving Interaction by Controlling Yourself in Virtual Space.

N Mitsubori, T Hagiwara, S Wakisaka, K Minamizawa

ICAT-EGVE (Posters and Demos), 39-40  2022

PhysioSense Controller: Self-Actuating Button Based on Player Physiology for Improved Avatar Control.

W ZiYue, K Minamizawa, YS Pai

ICAT-EGVE (Posters and Demos), 23-24  2022

Sit-By-Me: A Multi-Sensory Feedback Bench for Social Impromptu Interactions

Wang, KY; Pai, YS; Minamizawa, K

HAPTICS: SCIENCE, TECHNOLOGY, APPLICATIONS, EUROHAPTICS 2022 13235   501 - 503 2022

ISSN  0302-9743

Spatial Compatibility of Visual and Tactile Stimulation in Shared Haptic Perception

K Uemura, H Yukawa, K Kitamichi, M Shibasaki, K Minamizawa, ...

International Conference on Human Haptic Sensing and Touch Enabled Computer …  2022

Spatial Compatibility of Visual and Tactile Stimulation in Shared Haptic Perception

K Minamizawa, Y Tanaka

Haptics: Science, Technology, Applications: 13th International Conference on …  2022

Spatial Compatibility of Visual and Tactile Stimulation in Shared Haptic Perception

Uemura, K; Hikari, Y; Kitamichi, K; Shibasaki, M; Minamizawa, K; Tanaka, Y

HAPTICS: SCIENCE, TECHNOLOGY, APPLICATIONS, EUROHAPTICS 2022 13235   84 - 92 2022

ISSN  0302-9743

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Transcendental avatar: Experiencing bioresponsive avatar of the self for improved cognition

K Skiers, Y Suen Pai, K Minamizawa

SIGGRAPH Asia 2022 XR, 1-2  2022

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Biofeedback is a well-known form of therapy in which the patient receives sensory and auditory input on their physiology to help them reflect on, recognize, and be aware of their own state in order to improve their cognitive and emotional functioning. In our approach, a user's self-avatar is generated based on their physiological state, specifically their heart rate and electrodermal activity. Moreover, based on self-reported anxiety symptoms, we investigate if the biofeedback self-immersive avatar can help reduce stress levels.

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The Development and Social Utilities of A Human-Augmenting Medium Provides Drift Ability.

Ando Ryoichi, Uebayashi Isao, Sato Hayato, Obayashi Hayato, Katagiri Shota, Kawaguchi Midori, Minamizawa Kouta

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) (The Japan Society of Mechanical Engineers)  2022 ( 0 ) 2A1-I03 2022

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<p>We have developed a wheelchair-type human augmentation medium, Sli-de-Rift “RAY”, which provides people with a new motor ability called drifting safely. In this presentation, I will describe the design of the medium, the development process, and its social benefits.</p>

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ドリフト能力を与える人間拡張媒体の開発とその社会的効用 Sli-de-Rift モデル RAY

安藤良一， 上林功， 佐藤勇人， 大林勇人， 片桐翔太， 川口碧， 南澤孝太

ロボティクス・メカトロニクス講演会講演概要集 2022, 2A1-I03  2022

Parallel agency using robot arms

KAWAGUCHI Midori, KASAHARA Shunichi, MINAMIZAWA Kouta

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) (The Japan Society of Mechanical Engineers)  2022 ( 0 ) 2A1-I08 2022

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<p>As part of the development of a parallel cybernetic avatar that can move two robot arms simultaneously, this study examined the task performance and usability of the parallel arms when operated by a human without assistance. As a result, the method of changing the magnitude of the motion reflected in the two robot arms by the slider showed lower task performance but higher usability. This may be because it is less cognitive load to adjust the robot arms simultaneously than to switch between them. We will continue to design parallel cybernetic avatars that include cognitive load, which we were not able to verify in this study.</p>

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An Study on the Effect of Tactile Sharing in Psychological Games on Decision Making

Tanichi Taku, Inukai Keigo, Minamizawa Kouta

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) (The Japan Society of Mechanical Engineers)  2022 ( 0 ) 2P2-D09 2022

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<p>In the field of social psychology, many studies have been conducted to clarify human cooperative behavior using experimental games. In this study, we developed a Haptics interface that can share the input actions of others in real time, assuming communication in an online environment. And investigated the effect of sharing physical information on decision-making in an experimental game played by multiple players.</p>

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触覚と疼痛, 意識と無意識, 知覚と認知—「環境」 と 「意識」 をつなぐパラダイム—

板生清， 下田真吾， 平田仁， 南澤孝太， 藤原武史， 外村雅治， 駒澤真人， ...

日本ロボット学会誌 40 (8), 665-673  2022

Tactile Sense and Pain, Conscious and Unconscious, Perception and Cognition

Itao Kiyoshi, Shimoda Shingo, Jin Hirata, Minamisawa Kota, Fujiwara Takeshi, Sotomura Masaharu, Komazawa Masato, Kozaki Yoji

Journal of the Robotics Society of Japan (The Robotics Society of Japan)  40 ( 8 ) 665 - 673 2022

ISSN  02891824

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<p></p>

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How Haptics Induce Social Behavior: An Exploratory Study of Public Goods Games with Tactile Sharing on the Internet Using a Behavioral Economics Approach

D Takeuchi, K Inukai, M Suyama, N Manabe, T Tanichi, Y Tanaka, ...

2022 IEEE Haptics Symposium (HAPTICS), 1-6 2022-March 2022

ISSN  23247347

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By integrating haptic presentation technology and certain haptic sensors into online real-time communication, we can acquire subjective information on others through the sense of touch, and use it as a new standard for our own behavior. We believe that this will lead to changes in people's altruistic behavior, including cooperative behavior. This study investigates behavioral changes during tactile sharing using a behavioral economics scheme. We adopted a sequential public goods game where several participants in a group must exchange money. The haptic condition, where the investment points that other player put can be recognized with vibrotactile sense, and the visual condition, where the investment points that other player put can be visually recognized, were prepared. 32 participants were divided into the visual-first and haptic-first groups, and the haptic or visual condition was alternated between the 1st and 2nd sessions. The results showed significant effects on the haptic experience and correlations with guilty, indicating that the tactile sharing amplified feelings of guilt and made people less likely to act uncooperatively.

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Furekit: Wearable tactile music toolkit for children with ASD

D Qi, M Shibasaki, Y Kamiyama, S Tanaka, B Kawasaki, C Mitsuhashi, ...

International Conference on Human Haptic Sensing and Touch Enabled Computer … 13235 LNCS   310 - 318 2022

ISSN  03029743

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Children with autism spectrum disorder (ASD) face the challenge of social interaction and communication, leading to them often requiring significant support from others in their daily lives. This includes challenges like basic communication to convey their emotions to comprehension in early education. To aid with their early development, we propose Furekit, a wearable toolkit that encourages physical interaction via audio and tactile stimuli. Furekit can be attached to various parts of the body, can be operated wirelessly, and is equipped with both a speaker and a vibrotactile actuator. The audio and tactile stimuli are triggered when touched via a conductive pad on the surface, aiming to aid these children’s learning and social experience. From our conducted workshop with children with ASD, we found that Furekit was well-received and was able to encourage their spontaneous physical movement. In the workshop, Furekit shows its potential as an educational and communication tool for children with ASD.

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Intersubjective Tactile Sharing Method Based on Human Skin Vibration Characteristics

K Kitamichi, H Yukawa, K Minamizawa, Y Tanaka

2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC … 2022-October   299 - 304 2022

ISSN  1062922X

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Tactile sensation is essential for recognizing mechanical interactions between the human body and its environment; it is generally uniquely experienced by individuals. Haptic sharing technologies enable to share of other person's (or robot's) tactile sensations, and it is expected to apply for skill learning, collaborative work, and robot operation. While wearable tactile sensors are useful for tactile measurements, they are affected by differences in physical characteristics between individuals. Therefore, to accurately convey the tactile information felt by others and utilize it for work, it is necessary to remove individual differences due to differences in individual physical characteristics. In this study, based on the frequency based intensity of skin vibration of an individual, the vibration detected by the acceleration sensor affixed to the fingertip was modulated to remove individual differences. To confirm the effectiveness of the proposed method, we investigated both physical and perceptual similarities for skin vibrations collected from three persons with three different fine textures. The results showed that vibrations individually modulated with the proposed method was similar in the intensity and power spectrum density than those using the uniform modulation function, and was perceived similar when presenting those with a vibrator.

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Investigating the Relation Between Gender Expression of Mixed Reality Avatars and Sexuality of Male Users

A Kundu, YS Pai, K Minamizawa

2022 IEEE International Symposium on Mixed and Augmented Reality Adjunct …    881 - 884 2022

ISSN  2771-1102

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Mixed reality environments are the next step in remote collaboration, yet there has been little attention towards avatar design for the en-joyability and efficiency of diverse users, particularly for the lesbian, gay, bisexual, transgender and queer (LGBTQ+) community. We believe that it is important to adapt the design of virtual avatars users collaborate with depending on not only the users gender but also their sexuality. In this study, we focus on examining the relationship between the sexual orientation of male users with the gender expression of virtual avatars, while they perform a collaborative task in mixed reality. We analyzed the perception of straight cisgender men and gay cisgender men in relation to the gender expression of the above mentioned agents and find differences that might affect design decisions for creating user-base specific avatars. We found that Female avatars tend to have a more positive perception when it comes to gay men. And for mixed reality, gay men also tend to have both negative and positive experiences more intensely than straight men.

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ARMixer: Live Stage Monitor Mixing through Gestural Interaction in Augmented Reality

Huang W., Bourgeois S., Pai Y.S., Minamizawa K.

Proceedings - SIGGRAPH Asia 2021 Posters, SA 2021  2021.12

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Existing stage monitor mixing systems are inefficient and cannot accommodate the communication between the musicians and sound engineers. We introduce ARMixer, which allows musicians to perform self-stage monitor mixing through gestures in augmented reality to provide an intuitive mixing experience. We performed two usability tests and found that ARMixer is acceptable to the user and has excellent psychoacoustic intuitiveness in terms of mixing parameter controls by gestures and identifying mixing target.

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Dementia Eyes: perceiving dementia with augmented reality

X Shen, YS Pai, D Kiuchi, K Oishi, K Bao, T Aoki, K Minamizawa

SIGGRAPH Asia 2021 XR, 1-2  2021.12

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Dementia is a global health crisis, of which there is a need to understand the patients' perception towards improving their quality of life. We propose Dementia Eyes, a mobile AR experience that simulates common visual symptoms of senile dementia based on the known pathology and caregivers' actual experience with patients. Leveraging an iPhone and a Head-Mounted Display (HMD), we developed a real-time application which allows users to see the world from the perspective of an Alzheimer's type of dementia (AD) patient. The experience was validated by professional medical workers in Japan, and the result advocates for the efficacy of the empathy we intended to bring to them.

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Collaborative avatar platform for collective human expertise

T Hagiwara, T Katagiri, H Yukawa, I Ogura, R Tanada, T Nishimura, ...

SIGGRAPH asia 2021 emerging technologies, 1-2  2021.12

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In this study, we developed a system in which two users are integrated into one actual robot arm to collaborate with each other. The method of dividing the roles allows flexible movements that is not dependent on the range of movement and rotational freedom of the human arm, and enables movements that are impossible for a single person. The mixing of movements in adjustable ratio allows an expert to support a beginner to make more stable movements, and induces collaboration between users with different perspectives. Additionally, we implement tactile feedback to enable interaction between users and between users and the robot. We investigate the effects of these on usability and cognitive behavior. This system is expected to become a new method of collaboration in the cyber-physical society.

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BridgedReality: A Toolkit Connecting Physical and Virtual Spaces through Live Holographic Point Cloud Interaction

M Armstrong, L Quest, YS Pai, K Kunze, K Minamizawa

SIGGRAPH Asia 2021 Posters, 1-3  2021.12

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The recent emergence of point cloud streaming technologies has spawned new ways to digitally perceive and manipulate live data of users and spaces. The graphical rendering limitations prevent state-of-the-art interaction techniques from achieving segmented bare-body user input to manipulate live point cloud data. We propose BridgedReality, a toolkit that enables users to produce localized virtual effects in live scenes, without the need for an HMD nor any wearable devices or virtual controllers. Our method uses body tracking and an illusory rendering technique to achieve large scale, depth-based, real time interaction with multiple light field projection display interfaces. This toolkit circumvented time-consuming 3D object classification, and packaged multiple proximity effects in a format understandable by middle schoolers. Our work can offer a foundation for multidirectional holographic interfaces, GPU simulated interactions, teleconferencing and gaming activities, as well as live cinematic quality exhibitions.

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Parallel ping-pong: Demonstrating parallel interaction through multiple bodies by a single user

K Takada, M Kawaguchi, Y Nakanishi, A Uehara, M Armstrong, A Verhulst, ...

SIGGRAPH Asia 2021 Emerging Technologies, 1-2  2021.12

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We explore a "Parallel Interaction", where a user controls several bodies concurrently. To demonstrate this type of interaction we developed "Parallel Ping-Pong". The user plays ping-pong by controlling 2 robot arms with a Virtual Reality (VR) controller, and while looking from the viewpoint of one of the 2 robot arms with a Head Mounted Display (HMD). The HMD view switches between the 2 robot arms' viewpoints according to the ping-pong ball position and direction. To keep the sense of agency over the robot arms (hindered by the system latency), the robot arms calculate the balls' paths and position themselves to hit the balls back; all while integrating the controller motion. Throughout this demonstration, we investigate a real-life design of Parallel Interaction with multiple bodies by a single user.

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Bilaterally Shared Haptic Perception for Human-Robot Collaboration in Grasping Operation

Tanaka Yoshihiro, Shiraki Shogo, Katayama Kazuki, Minamizawa Kouta, Prattichizzo Domenico

Journal of Robotics and Mechatronics (Fuji Technology Press Ltd.)  33 ( 5 ) 1104 - 1116 2021.10

ISSN  09153942

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<p>Tactile sensations are crucial for achieving precise operations. A haptic connection between a human operator and a robot has the potential to promote smooth human-robot collaboration (HRC). In this study, we assemble a bilaterally shared haptic system for grasping operations, such as both hands of humans using a bottle cap-opening task. A robot arm controls the grasping force according to the tactile information from the human that opens the cap with a finger-attached acceleration sensor. Then, the grasping force of the robot arm is fed back to the human using a wearable squeezing display. Three experiments are conducted: measurement of the just noticeable difference in the tactile display, a collaborative task with different bottles under two conditions, with and without tactile feedback, including psychological evaluations using a questionnaire, and a collaborative task under an explicit strategy. The results obtained showed that the tactile feedback provided the confidence that the cooperative robot was adjusting its action and improved the stability of the task with the explicit strategy. The results indicate the effectiveness of the tactile feedback and the requirement for an explicit strategy of operators, providing insight into the design of an HRC with bilaterally shared haptic perception.</p>

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• CiNii Research

Wearable haptics for object compliance discrimination through passive touch

N D’Aurizio, TL Baldi, A Villani, K Minamizawa, Y Tanaka, D Prattichizzo

2021 IEEE World Haptics Conference (WHC), 894-899    894 - 899 2021.07

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The ability to estimate compliance is an important human skill related to the tactile sense. When the perception of compliance is mediated by haptic devices, the interaction with objects usually takes place through active exploration from the subject. In this paper, we present a wearable haptic device for transmitting information about object compliance through passive touch, meaning that stimuli are generated by an external agent rather than by user motion. More precisely, the dynamics describing the object indentation is reproduced on the user's forearm in the form of decoupled cues representing applied force and surface displacement. The development of such a device has a twofold purpose. Firstly, it allows the study of the human capacity for processing decoupled information to deduce object compliance. Secondly, it makes possible to convey object compliance to someone who is not performing the object indentation. This is especially important in contexts like telemedicine and human-robot collaboration.Users' perception of stiffness, force, and displacement were estimated. Then, a two-phase experiment was carried out to compare the proposed approach with the state of the art. Results of the experimental campaign revealed the effectiveness of the proposed approach. Users were able to discriminate and order objects with different compliance with a success rate 9% greater than the one obtained exploiting state of the art strategies reproducing only forces.

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Comado: Communication system for ambient connection between distance locations

F Yamamura, T Tanichi, YS Pai, K Minamizawa

2021 IEEE World Haptics Conference (WHC), 588-588    588 - 588 2021.07

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Current video call systems can facilitate formal conversation, yet they lack the ability to provide users with an informal sense of presence. To this end, we propose Comado, a communication system that creates an ambient connection using online interactive haptic sharing. Outside of face-to-face communication, Comado provides haptic feedback to the desk to convey a sense of presence. From preliminary results, we plan to further improve the design of Comado to be deployed in the wild.

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Tactile music toolkit: supporting communication for autistic children with audio feedback

D Qi, D Hynds, M Shibasaki, YS Pai, K Minamizawa

2021 IEEE World Haptics Conference (WHC), 1156-1156  2021.07

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We propose the Tactile Music Toolkit, a wearable device that delivers audio feedback to aid in communication and interaction for autistic children. The toolkit is wireless and is packaged into a compact module to promote more physical interaction among autistic children which can aid in their communication and social development. Our preliminary observations showed that our toolkit was fun to use and it helped them in their willingness to engage in physical contact.

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Identification of an Alternative Glycyrrhizin Metabolite Causing Liquorice-Induced Pseudohyperaldosteronism and the Development of ELISA System to Detect the Predictive Biomarker

Ishiuchi, K; Morinaga, O; Yoshino, T; Mitamura, M; Hirasawa, A; Maki, Y; Tashita, Y; Kondo, T; Ogawa, K; Lian, FY; Ogawa-Ochiai, K; Minamizawa, K; Namiki, T; Mimura, M; Watanabe, K; Makino, T

FRONTIERS IN PHARMACOLOGY 12 2021.05

ISSN  1663-9812

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Haptic Empathy: Conveying Emotional Meaning through Vibrotactile Feedback

Y Ju, D Zheng, D Hynds, G Chernyshov, K Kunze, K Minamizawa

Extended Abstracts of the 2021 CHI Conference on Human Factors in Computing … (Conference on Human Factors in Computing Systems - Proceedings)   2021.05

ISSN  9781450380959

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Touch plays an essential role in communicating emotions and intensifying interpersonal communication[4]. A lot of research focuses on how to create or improve haptic interfaces looking into challenges and possibilities that the haptic technology can offer[30]. The objective of this research is to investigate whether people can share subjective feelings through simple vibrotactile feedback. In an initial experiment, we used the TECHTILE toolkit[19] to record 28 vibration sample sets for 4 different emotions (joy, anger, sadness, relaxation). We then replayed the vibrations to test how well they could be recognized. The results support the hypothesis that people can use vibration feedback as a medium for expressing specific subjective feelings. It also indicates some universalities in affective vibrotactile stimuli that even strangers with little to no knowledge about the senders could recognize the emotional meanings.

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Research on the transcendence of bodily differences, using sport and human augmentation medium

R Ando, I Uebayashi, H Sato, H Ohbayashi, S Katagiri, S Hayakawa, ...

Proceedings of the Augmented Humans International Conference 2021, 31-39    31 - 39 2021.02

　View Summary

In this study, we created a sport which applied with human augmentation technology, that is not affected by the differences in the participants' lower limbs, using a wheelchair-type body-enhancing medium that provides a new motor ability called drifting that was not possible before. The sport was played by six players, three people with non lower limb disabilities and three without lower limb disabilities, and the results showed a change in the added ability especially for their motions' accuracy. Some of these were not related to the differential status of the lower limb, while others may have been.

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Boiling Mind: Amplifying the Audience-Performer Connection through Sonification and Visualization of Heart and Electrodermal Activities

M Sugawa, T Furukawa, G Chernyshov, D Hynds, J Han, M Padovani, ...

Proceedings of the Fifteenth International Conference on Tangible, Embedded … (TEI 2021 - Proceedings of the 15th International Conference on Tangible, Embedded, and Embodied Interaction)   2021.02

ISSN  9781450382137

　View Summary

In stage performances, an invisible wall in front of the stage often weakens the connections between the audience and performers. To amplify this performative connection, we present the concept "Boiling Mind". Our design concept is based on streaming sensor data related to heart and electrodermal activities from audience members and integrating this data into staging elements, such as visual projections, music, and lighting. Thus, the internal states of the audience directly influence the staging. Artists can have a more direct perception of the inner reactions of audience members and can create physical expressions in response to them. In this paper, we present the wearable sensing system as well as design considerations of mapping heart and electrodermal activity to changes in the staging elements. We evaluated our design and setup over three live performances.

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Designing Haptics

MINAMIZAWA Kouta

The Journal of The Institute of Electrical Engineers of Japan (The Institute of Electrical Engineers of Japan)  141 ( 2 ) 83 - 85 2021

ISSN  1340-5551

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<p>1．はじめに</p><p>本特集において紹介されてきたように，ハプティクスの計測提示技術の進化は目覚ましく，さまざまな応用領域に適したインタフェースの設計開発が可能になってきている。一方で，これらの技術が今後社会に普及し人々の日常に浸透するためには，ハプティクスが利用者に対して具体</p>

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Remote control system

YS MHD, T Sasaki, R MATSUMURA, K MINAMIZAWA, M Inami

US Patent App. 17/137,116  2021

Information processing device, information processing method, and program

T Nashida, M Mikami, K Minamizawa, M Inami, T Kurogi, M Takeda, ...

US Patent App. 17/040,508  2021

Boiling Mind-A Dataset of Physiological Signals during an Exploratory Dance Performance

Z Fu, J Han, G Chernyshov, M Sugawa, D Zheng, D Hynds, T Furukawa, ...

Proceedings of the Augmented Humans International Conference 2021, 301-303    301 - 303 2021

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The relationship between audience and performers is crucial to what makes live events so special. The aim of this work is to develop a new approach amplifying the link between audiences and performers. Specifically, we explore the use of wearable sensors in gathering real-time audience data to augment the visuals of a live dance performance. We used the J!NS MEME, smart glasses with integrated electrodes enabling eye movement analysis (e.g. blink detection) and inertial motion sensing of the head (e.g. nodding recognition). This data is streamed from the audience and visualised live on stage during a performance, alongside we also collected heart rate and eye gaze of selected audience. In this paper we present the recorded dataset, including accelerometer, electrooculography(EOG), and gyroscope data from 23 audience members.

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Remote control system

YS MHD, T Sasaki, R MATSUMURA, K MINAMIZAWA, M Inami

US Patent App. 17/137,116  2021

身体とテクノロジーが融合する時代, 人の心はどう変わる?

南澤孝太

心理学ワールド/日本心理学会 編, 9-12  2021

CONTROL DEVICE, ROBOT CONTROL PROCESS AND ROBOT CONTROL SYSTEM

CL FERNANDO, S Tachi, G Sano, K MINAMIZAWA

 2021

Frisson Waves: Sharing Frisson to Create Collective Empathetic Experiences for Music Performances

Y He, G Chernyshov, D Zheng, J Han, R Thomsen, D Hynds, Y Yang, ...

SIGGRAPH Asia 2021 Emerging Technologies, 1-2  2021

Frisson Waves: Sharing Frisson to Create Collective Empathetic Experiences for Music Performances

He, Y; Chernyshov, G; Zheng, DD; Han, JW; Thomsen, R; Hynds, D; Yang, YH; Pai, YS; Kunze, K; Minamizawa, K

PROCEEDINGS OF SIGGRAPH ASIA 2021 EMERGING TECHNOLOGIES  2021

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SIGGRAPH Asia 2021 Emerging Technologies

SJ Shiota, A Kimura, K Minamizawa

ACM  2021

超人スポーツ・グランドチャレンジ 2020

持丸正明， 村井昭彦， 田中孝之， 栗田雄一， 南澤孝太， 稲見昌彦

Journal of the Society of Biomechanisms (Society of Biomechanisms)  45 ( 2 ) 80 - 83 2021

ISSN  02850885

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超人スポーツとは，人間の身体能力を補綴・拡張する人間拡張工学に基づき，人の身体能力を超える力を身につけ「人を超える」，あるいは年齢や障碍などの身体差により生じる「人と人のバリアを超える」ことによって生み出される新しいスポーツ競技である．拡張された超人同士がテクノロジーを自在に乗りこなし，競い合う「人機一体」の新たなスポーツを創造することを目指している．さらなる「人機一体」の技術の開発に向け，競技者同士が同一の技術（道具）を用い，その使いこなし方や身体能力，戦略で競い合う超人スポーツ競技ではなく，最先端の人間拡張工学と身体能力を競技者同士が自在に開発，適用して，独自技術と身体能力で競い合い，記録に挑戦するかたちの競技を新たに創り出すという目的で，3 つのグランドチャレンジを設定し，2020 年度の第 1 回グランドチャレンジを実施した．

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KABUTO: Inducing Upper-Body Movements using a Head Mounted Haptic Display with Flywheels

T Tanichi, F Asada, K Matsuda, D Hynds, K Minamizawa

SIGGRAPH Asia 2020 Emerging Technologies, 1-2 (SIGGRAPH Asia 2020 Emerging Technologies, SA 2020)   2020.12

ISSN  9781450381109

　View Summary

As an alternative to enhance user's experience in VR contents, we propose KABUTO, a head mounted haptic display designed to induce upper-body movement by the application of kinesthetic feedback to the head. KABUTO can provide impact and resistance by using flywheels and brakes in response to various head movements, as extensive head movements lead to dynamic movement throughout the upper body. We have also designed an application which enables the user to become a rhinoceros beetle.The user can feel the weight of the swinging horn or the impact of the horn flinging object. In the demonstration of it, we observed that KABUTO makes users move their upper body aggressively.

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Visuomotor Influence of Attached Robotic Neck Augmentation

L Shen, MHDY Saraiji, K Kunze, K Minamizawa, RL Peiris

Symposium on Spatial User Interaction, 1-10 (Proceedings - SUI 2020: ACM Symposium on Spatial User Interaction)   2020.10

ISSN  9781450379434

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The combination of eye and head movements plays a major part in our visual process. The neck provides mobility for the head motion and also limits the range of visual motion in space. In this paper, a robotic neck augmentation system is designed to surmount the physical limitations of the neck. It applies in essential a visuomotor modification to the vision-neck relationship. We conducted two experiments to measure and verify the performance of the neck alternation. The multiple test results indicate the system has a positive effect to augment the motions of vision. Specifically, the robotic neck can enlarge the range of neck motion to 200%, and influence the response motion, by overall 22% less in time and 28% faster in speed.

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Bubble Visualization Overlay in Online Communication for Increased Speed Awareness and Better Turn Taking

R Horii, Y Chandra, K Kunze, K Minamizawa

Adjunct Publication of the 33rd Annual ACM Symposium on User Interface … (UIST 2020 - Adjunct Publication of the 33rd Annual ACM Symposium on User Interface Software and Technology)     59 - 61 2020.10

ISSN  9781450375153

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In this paper, we explore the use of a real-time speech visualization overlay to help native English speakers (NES) reflect on their speech speed and allow them to understand how English as a Foreign Language speakers (EFLS) perceive their speech. Our visual system generates a sequence of bubbles based on the speaking speed overlaid close to the user's mouth; the faster the speaking speed, the denser the bubble sequence, and vice versa. The results suggest that the presence of the speech visualization helps NES to understand their speech speed, and subsequently, it helps EFLS to feel comfortable speaking during the online group discussion.

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Bubble Visualization Overlay in Online Communication for Increased Speed Awareness and Better Turn Taking

R Horii, Y Chandra, K Kunze, K Minamizawa

Adjunct Publication of the 33rd Annual ACM Symposium on User Interface … (UIST 2020 - Adjunct Publication of the 33rd Annual ACM Symposium on User Interface Software and Technology)     59 - 61 2020.10

ISSN  9781450375153

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In this paper, we explore the use of a real-time speech visualization overlay to help native English speakers (NES) reflect on their speech speed and allow them to understand how English as a Foreign Language speakers (EFLS) perceive their speech. Our visual system generates a sequence of bubbles based on the speaking speed overlaid close to the user's mouth; the faster the speaking speed, the denser the bubble sequence, and vice versa. The results suggest that the presence of the speech visualization helps NES to understand their speech speed, and subsequently, it helps EFLS to feel comfortable speaking during the online group discussion.

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SlideFusion: Surrogacy Wheelchair with Implicit Eyegaze Modality Sharing

R Ando, K Minamizawa, MHDY Saraiji

ACM SIGGRAPH 2020 Emerging Technologies, 1-2 (ACM SIGGRAPH 2020 Emerging Technologies, SIGGRAPH 2020)   2020.08

ISSN  9781450379670

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For mobility-impaired people, the wheelchair is considered as a main navigation and accessibility device. However, due to the inherited design of the chair, the user is restricted to utilize his hand all the time during navigation resulting in a dual impairment. Our proposed system, SlideFusion, expands on previous work of collaborative and assistive technologies for accessibility scenarios. SlideFusion is focused on the remote collaboration of the mobility impaired person, that an operator can remotely access an avatar embedded into the wheelchair. To reduce the physical and cognitive overload on the wheelchair user, we propose the use of eye gaze modality sharing with the remote operator. The eye gaze modality enables implicit interactions that do not require the user to point or verbally say, thus leveraging indirect communication. By using this, not only accessibility can be provided to wheelchair users and their caregivers, but also hearing impairments and pronunciation disorders are applicable.

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Sophroneo: Fear not. A VR Horror Game with Thermal Feedback and Physiological Signal Loop.

Ragozin K., Chernyshov G., Zheng D., Hynds D., Zhao J., Minamizawa K., Kunze K.

ACM SIGGRAPH 2020 Immersive Pavilion, SIGGRAPH 2020 (ACM SIGGRAPH 2020 Immersive Pavilion, SIGGRAPH 2020)   2020.08

ISSN  9781450379687

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We present "Sophroneo: Fear not", a VR horror experience with thermal feedback interface. To emphasize the supernatural side of the experience we introduce several innovative approaches, such as long intense cold feedback, liminal audio and physiological feedback loops. We built a wearable thermal feedback setup with water-cooled Peltier TEC elements for long cold sensations to improve the immersion and to increase the sense of fear and unease. At several points of the experience the player will have to close their eyes and interact with the VR environment depending on their other senses alone.

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SlideFusion: Surrogacy Wheelchair with Implicit Eyegaze Modality Sharing

R Ando, K Minamizawa, MHDY Saraiji

ACM SIGGRAPH 2020 Emerging Technologies, 1-2 (ACM SIGGRAPH 2020 Emerging Technologies, SIGGRAPH 2020)   2020.08

ISSN  9781450379670

　View Summary

For mobility-impaired people, the wheelchair is considered as a main navigation and accessibility device. However, due to the inherited design of the chair, the user is restricted to utilize his hand all the time during navigation resulting in a dual impairment. Our proposed system, SlideFusion, expands on previous work of collaborative and assistive technologies for accessibility scenarios. SlideFusion is focused on the remote collaboration of the mobility impaired person, that an operator can remotely access an avatar embedded into the wheelchair. To reduce the physical and cognitive overload on the wheelchair user, we propose the use of eye gaze modality sharing with the remote operator. The eye gaze modality enables implicit interactions that do not require the user to point or verbally say, thus leveraging indirect communication. By using this, not only accessibility can be provided to wheelchair users and their caregivers, but also hearing impairments and pronunciation disorders are applicable.

• Access to Document (DOI)

Sophroneo: Fear not. A VR Horror Game with Thermal Feedback and Physiological Signal Loop.

Ragozin K., Chernyshov G., Zheng D., Hynds D., Zhao J., Minamizawa K., Kunze K.

ACM SIGGRAPH 2020 Immersive Pavilion, SIGGRAPH 2020 (ACM SIGGRAPH 2020 Immersive Pavilion, SIGGRAPH 2020)   2020.08

ISSN  9781450379687

　View Summary

We present "Sophroneo: Fear not", a VR horror experience with thermal feedback interface. To emphasize the supernatural side of the experience we introduce several innovative approaches, such as long intense cold feedback, liminal audio and physiological feedback loops. We built a wearable thermal feedback setup with water-cooled Peltier TEC elements for long cold sensations to improve the immersion and to increase the sense of fear and unease. At several points of the experience the player will have to close their eyes and interact with the VR environment depending on their other senses alone.

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Operation Identification by Shared Tactile Perception Based on Skin Vibration

T Katagiri, Y Tanaka, S Sugiura, K Minamizawa, J Watanabe, ...

2020 29th IEEE International Conference on Robot and Human Interactive … (29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020)     885 - 890 2020.08

ISSN  9781728160757

　View Summary

Tactile sensation contributes to sensory-motor control and facilitates skillful manipulation of objects. If the tactile sensation can be shared between two partners, the state of each partner can be partially observed by the other, and the possibilities for cooperative work may be expanded. Recently, examples of utilizing tactile sensation in human-robot cooperative work have been proposed. For cooperative work between people, it is necessary to investigate the basic ability of humans to identify other person's motions and operations by tactile presentation. To avoid hindering work performed with the hands and fingertips, the sensation must be presented elsewhere. This study investigates the possibility of identifying other person's tool operations by presenting tactile information induced on his/her finger with a wearable vibrator on the arm. A wearable skin vibration sensor was employed to acquire tactile information during an experiment in which five different tool operations were tested. This sensor measures skin vibration while directly touching the target. We proposed a non-linear signal processing function to adjust the intensity of the skin vibration to within the range of human sensitivity for tactile presentation. We compared vibrotactile stimulation between the non-linear and linear corrections, and then conducted experiments on identifying operations. The results showed that the non-linear correction increased small signals and enhanced the variance of large signals, and that operations were significantly identified by tactile presentation to the arm.

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Operation Identification by Shared Tactile Perception Based on Skin Vibration

T Katagiri, Y Tanaka, S Sugiura, K Minamizawa, J Watanabe, ...

2020 29th IEEE International Conference on Robot and Human Interactive … (29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020)     885 - 890 2020.08

ISSN  9781728160757

　View Summary

Tactile sensation contributes to sensory-motor control and facilitates skillful manipulation of objects. If the tactile sensation can be shared between two partners, the state of each partner can be partially observed by the other, and the possibilities for cooperative work may be expanded. Recently, examples of utilizing tactile sensation in human-robot cooperative work have been proposed. For cooperative work between people, it is necessary to investigate the basic ability of humans to identify other person's motions and operations by tactile presentation. To avoid hindering work performed with the hands and fingertips, the sensation must be presented elsewhere. This study investigates the possibility of identifying other person's tool operations by presenting tactile information induced on his/her finger with a wearable vibrator on the arm. A wearable skin vibration sensor was employed to acquire tactile information during an experiment in which five different tool operations were tested. This sensor measures skin vibration while directly touching the target. We proposed a non-linear signal processing function to adjust the intensity of the skin vibration to within the range of human sensitivity for tactile presentation. We compared vibrotactile stimulation between the non-linear and linear corrections, and then conducted experiments on identifying operations. The results showed that the non-linear correction increased small signals and enhanced the variance of large signals, and that operations were significantly identified by tactile presentation to the arm.

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Discovering Narratives: Multi-sensory Approach Towards Designing with People with Dementia

E Czech, M Shibasaki, K Tsuchiya, RL Peiris, K Minamizawa

Extended Abstracts of the 2020 CHI Conference on Human Factors in Computing … (Conference on Human Factors in Computing Systems - Proceedings)   2020.04

ISSN  9781450368193

　View Summary

Building off of previous Human-Computer Interaction research on reminiscent and art therapy, this case study examines using a multi-modal album to help older residents with dementia engage with others while sharing portions of their life story. The narratives contained within the album were designed in cooperation with assisted care home residents with dementia. However, due to the progression of their dementia, adaptions to standard interviewing processes for gathering the narratives were needed. Through the use of multi-sensory stimulates (visual and somatic), over time, we were able to understand our participants' narratives as well as their personhood. Furthermore, the adaptions led to questioning the importance of narrative accuracy and the ultimate purpose of building the albums. The next phase is to evaluate the long-term effects of the creation process and the albums themselves.

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Discovering Narratives: Multi-sensory Approach Towards Designing with People with Dementia

E Czech, M Shibasaki, K Tsuchiya, RL Peiris, K Minamizawa

Extended Abstracts of the 2020 CHI Conference on Human Factors in Computing … (Conference on Human Factors in Computing Systems - Proceedings)   2020.04

ISSN  9781450368193

　View Summary

Building off of previous Human-Computer Interaction research on reminiscent and art therapy, this case study examines using a multi-modal album to help older residents with dementia engage with others while sharing portions of their life story. The narratives contained within the album were designed in cooperation with assisted care home residents with dementia. However, due to the progression of their dementia, adaptions to standard interviewing processes for gathering the narratives were needed. Through the use of multi-sensory stimulates (visual and somatic), over time, we were able to understand our participants' narratives as well as their personhood. Furthermore, the adaptions led to questioning the importance of narrative accuracy and the ultimate purpose of building the albums. The next phase is to evaluate the long-term effects of the creation process and the albums themselves.

• Access to Document (DOI)

Design of Altered Cognition with Reshaped Bodies

K Shirota, M Uju, Y Chandra, E Czech, R Peiris, K Minamizawa

Proceedings of the Augmented Humans International Conference, 1-10 (ACM International Conference Proceeding Series)   2020.03

ISSN  9781450376037

　View Summary

In this research, we aimed to expand humans' physical ability by reshaping natural physicalities that allow body transformation. By modifying the existing body parts, we proposed a system that changed humans' cognition of reality and their environment, and presented its use case. We conducted a study that explored the use of actions: (1) opening and closing of the pinnas (ears) and (2) pulling of the nose to change humans' body schema and humans' cognition of the environment. The results showed that people were able to perceive changes in the position of the pinnas in three different conditions (100% Open, 50% Open, 0% Open) with high accuracy. We also observed that opening and closing the pinnas could alter the cognition of the sound field, as opposed to the normal ears. Furthermore, we found that the feeling of a nose is extending was felt more by using the system. This finding implied that the modified body schema improved our recognition of the odor source and its position.

• Access to Document (DOI)

Design of Altered Cognition with Reshaped Bodies

K Shirota, M Uju, Y Chandra, E Czech, R Peiris, K Minamizawa

Proceedings of the Augmented Humans International Conference, 1-10 (ACM International Conference Proceeding Series)   2020.03

ISSN  9781450376037

　View Summary

In this research, we aimed to expand humans' physical ability by reshaping natural physicalities that allow body transformation. By modifying the existing body parts, we proposed a system that changed humans' cognition of reality and their environment, and presented its use case. We conducted a study that explored the use of actions: (1) opening and closing of the pinnas (ears) and (2) pulling of the nose to change humans' body schema and humans' cognition of the environment. The results showed that people were able to perceive changes in the position of the pinnas in three different conditions (100% Open, 50% Open, 0% Open) with high accuracy. We also observed that opening and closing the pinnas could alter the cognition of the sound field, as opposed to the normal ears. Furthermore, we found that the feeling of a nose is extending was felt more by using the system. This finding implied that the modified body schema improved our recognition of the odor source and its position.

• Access to Document (DOI)

Discrimination of prediction models between cold-heat and deficiency-excess patterns

Maeda-Minami Ayako, Yoshino Tetsuhiro, Katayama Kotoe, Horiba Yuko, Hikiami Hiroaki, Shimada Yutaka, Namiki Takao, Tahara Eiichi, Minamizawa Kiyoshi, Muramatsu Shinichi, Yamaguchi Rui, Imoto Seiya, Miyano Satoru, Mima Hideki, Mimura Masaru, Nakamura Tomonori, Watanabe Kenji

COMPLEMENTARY THERAPIES IN MEDICINE 49 2020.03

ISSN  0965-2299

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Discrimination of prediction models between cold-heat and deficiency-excess patterns

Maeda-Minami Ayako, Yoshino Tetsuhiro, Katayama Kotoe, Horiba Yuko, Hikiami Hiroaki, Shimada Yutaka, Namiki Takao, Tahara Eiichi, Minamizawa Kiyoshi, Muramatsu Shinichi, Yamaguchi Rui, Imoto Seiya, Miyano Satoru, Mima Hideki, Mimura Masaru, Nakamura Tomonori, Watanabe Kenji

COMPLEMENTARY THERAPIES IN MEDICINE 49 2020.03

ISSN  0965-2299

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Preliminary Investigation of Across-Body Vibrotactile Pattern for the Design of Affective Furniture

Y Chandra, B Tag, RL Peiris, K Minamizawa

2020 IEEE Haptics Symposium (HAPTICS), 671-676 (IEEE Haptics Symposium, HAPTICS)  2020-March   671 - 676 2020.03

ISSN  9781728102344

　View Summary

This research is an exploratory work aimed at evaluating the ability of across-body vibration patterns to communicate emotions. We developed an affective haptic chair that allows seated users to feel tactile sensation around the upper and lower back, bottom, and leg area. We tested the system in two studies. The first study used 25 user-generated haptic patterns to represent five basic emotions, and suggested that across-body haptic patterns are effective in conveying emotions. In the second study, we tested four basic directional patterns identified in study 1 and validated the effect of up, down, left, and right movement on users' emotional states. We observed an improvement in valence value from "up" movement, while the "down" movement was expressed to induce a sense of calmness in users. These findings could be useful in designing future affective furniture.

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Preliminary Investigation of Across-Body Vibrotactile Pattern for the Design of Affective Furniture

Y Chandra, B Tag, RL Peiris, K Minamizawa

2020 IEEE Haptics Symposium (HAPTICS), 671-676 (IEEE Haptics Symposium, HAPTICS)  2020-March   671 - 676 2020.03

ISSN  9781728102344

　View Summary

This research is an exploratory work aimed at evaluating the ability of across-body vibration patterns to communicate emotions. We developed an affective haptic chair that allows seated users to feel tactile sensation around the upper and lower back, bottom, and leg area. We tested the system in two studies. The first study used 25 user-generated haptic patterns to represent five basic emotions, and suggested that across-body haptic patterns are effective in conveying emotions. In the second study, we tested four basic directional patterns identified in study 1 and validated the effect of up, down, left, and right movement on users' emotional states. We observed an improvement in valence value from "up" movement, while the "down" movement was expressed to induce a sense of calmness in users. These findings could be useful in designing future affective furniture.

• Access to Document (DOI)

Control device and control method

H Kim, S Kasahara, M Inami, K Minamizawa, Y Sugiura, Y Mizushina

US Patent 10,579,109  2020

Re-association of Body Parts: Illusory Ownership of a Virtual Arm Associated with the Contralateral Real Finger by Visuo-motor Synchrony

R Kondo, Y Tani, M Sugimoto, K Minamizawa, M Inami, M Kitazaki

Frontiers in Robotics and AI 7, 26 (Frontiers in Robotics and AI)  7 2020

ISSN  2296-9144

　View Summary

Illusory ownership can be induced in a virtual body by visuo-motor synchrony. Our aim was to test the possibility of a re-association of the right thumb with a virtual left arm and express the illusory body ownership of the re-associated arm through a synchronous or asynchronous movement of the body parts through action and vision. Participants felt that their right thumb was the virtual left arm more strongly in the synchronous condition than in the asynchronous one, and the feeling of ownership of the virtual arm was also stronger in the synchronous condition. We did not find a significant difference in the startle responses to a sudden knife appearance to the virtual arm between the two synchrony conditions, as there was no proprioceptive drift of the thumb. These results suggest that a re-association of the right thumb with the virtual left arm could be induced by visuo-motor synchronization; however, it may be weaker than the natural association.

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Edge Vibration Improves Ability to Discriminate Roughness Difference of Adjoining Areas

Y Ban, Y Ujitoko, K Minamizawa

IEEE Transactions on Haptics (IEEE Transactions on Haptics)  13 ( 1 ) 211 - 218 2020

ISSN  19391412

　View Summary

Researchers have studied the discrimination thresholds between different vibrotactile signals under various conditions. Humans cannot recognize slight differences in vibrotactile stimuli that are smaller than the perception threshold. This is a constraint in the vibrotactile design used in practical applications. This article focuses on the vibrational feedback at the 'edge' between multiple areas, while previous studies have not considered this. We assume that the edge vibration not only emphasizes the presence of the edge itself, but also has an effect on the vibrotactile perception of the adjoining areas. Specifically, we hypothesize that the edge vibration would modify the user's ability to discriminate vibrotactile differences between adjoining areas. We conducted a user study to test this hypothesis. As a result, we found that presenting edge vibrations at the boundaries between adjacent textures makes it easier to discriminate the frequency and amplitude differences of the vibrations of those uneven textures. This article could increase the flexibility of vibrotactile design, and vibrotactile designers could use these results to design a wider variety of vibrations for adjacent areas.

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Design of Interactive Audio-Visual-Tactile Media "Public Booth for Vibrotactile Communication" for Telecommunication with Heightened Presence

Hayakawa Hirohiko, Owaki Richi, Ishikawa Takuya, Minamizawa Kouta, Tanaka Yoshihiro, Komazaki Kakagu, Kamamoto Yutaka, Watanabe Junji

Transactions of the Virtual Reality Society of Japan (THE VIRTUAL REALITY SOCIETY OF JAPAN)  25 ( 4 ) 412 - 421 2020

ISSN  1344-011X

　View Summary

<p>This paper presents "Public Booth for Vibrotactile Communication", an interactive audio-visual-haptic media that allows us to feel the vibrations of the other people who share the same desk and face each other. The purpose of this research is to observe what kind of behavior people take when a higher presence is presented by tactile sensation in telecommunication. As the interface, we designed a pair of frames consisting of a curved screen to show the upper body and the hand of a life-size person, a haptic system to share tactile sensation, and a sound system. By installing the frames in multiple remote places and transmitting audio-visual-tactile sensation interactively, we observed what kind of behavior faced people do and what kind of communication was created between them. As a result, various haptic plays were created. Since the tendency in the development of haptic communication observed in the developmental phase of infants was also observed through this approach, it was clarified that the heightened presence provided by haptics for telecommunication contributes to the promotion of friendship.</p>

• Access to Document (DOI)

Control device, robot control method, and robot control system

CL Fernando, S Tachi, G Sano, K Minamizawa

US Patent App. 16/684,625  2020

Design of Interactive Audio-Visual-Tactile Media "Public Booth for Vibrotactile Communication" for Telecommunication with Heightened Presence

Hayakawa Hirohiko, Owaki Richi, Ishikawa Takuya, Minamizawa Kouta, Tanaka Yoshihiro, Komazaki Kakagu, Kamamoto Yutaka, Watanabe Junji

Transactions of the Virtual Reality Society of Japan (THE VIRTUAL REALITY SOCIETY OF JAPAN)  25 ( 4 ) 412 - 421 2020

ISSN  1344-011X

　View Summary

<p>This paper presents "Public Booth for Vibrotactile Communication", an interactive audio-visual-haptic media that allows us to feel the vibrations of the other people who share the same desk and face each other. The purpose of this research is to observe what kind of behavior people take when a higher presence is presented by tactile sensation in telecommunication. As the interface, we designed a pair of frames consisting of a curved screen to show the upper body and the hand of a life-size person, a haptic system to share tactile sensation, and a sound system. By installing the frames in multiple remote places and transmitting audio-visual-tactile sensation interactively, we observed what kind of behavior faced people do and what kind of communication was created between them. As a result, various haptic plays were created. Since the tendency in the development of haptic communication observed in the developmental phase of infants was also observed through this approach, it was clarified that the heightened presence provided by haptics for telecommunication contributes to the promotion of friendship.</p>

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Operation Discrimination Using Skin Vibration:-Study on the Characteristics of Vibration and the Presentation Position-

SUGIURA Shimpei, KATAGIRI Takumi, TANAKA Yoshihiro, MINAMIZAWA Kouta, WATANABE Junji

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) (The Japan Society of Mechanical Engineers)  2020 ( 0 ) 2P1 - M15 2020

　View Summary

<p>We are exploring new applications using haptic sharing. If we were able to capture and perceive the sensations and movements of others into ourselves, we could conduct cooperative works with others on the basis of shared haptic perception. We demonstrated human-robot cooperation by sending human haptic information during the task to the robot. Regarding human-human cooperation, humans need to perceive haptic information and identify the other's state on the task. Therefore, in this paper, the identification of different tool operations by presenting vibrotactile stimulation that reproduces the skin vibration collected during each operation was tested. Performance of the identification was investigated on different positions to present vibrotactile stimulation and on the multi inputs of vibrotactile stimulation.</p>

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皮膚振動を用いた作業識別 一振動の特徴と提示部位に関する検討一

杉浦慎平， 片桐拓海， 田中由浩， 南澤孝太， 渡邊淳司

ロボティクス・メカトロニクス講演会講演概要集 2020, 2P1-M15  2020

Signal processing apparatus and signal processing method

H Kim, M Yoshino, M Inami, K Minamizawa, Y Sugiura, Y Mizushina, ...

US Patent 10,705,620  2020

Signal processing apparatus and signal processing method

H Kim, M Yoshino, M Inami, K Minamizawa, Y Sugiura, S Kasahara

US Patent 10,674,304  2020

Shared Haptic Perception for Human-Robot Collaboration

K Katayama, M Pozzi, Y Tanaka, K Minamizawa, D Prattichizzo

International Conference on Human Haptic Sensing and Touch Enabled Computer … (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics))  12272 LNCS   536 - 544 2020

ISSN  9783030581466

　View Summary

To obtain a fluent human-robot collaboration, reciprocal awareness is fundamental. In this paper, we propose to achieve it by creating a haptic connection between the human operator and the collaborative robot. Data coming from a wearable skin vibration sensor are used by the robot to recognize human actions, and vibrotactile signals are used to inform the human about the correct recognition of her/his actions. It is shown that the proposed communication paradigm, based on shared haptic perception, allows to improve cycle time performance in a complex human-robot collaborative task.

• Access to Document (DOI)

SF の射程距離 (第 5 回) 身体という 「距離」 を超える

南澤孝太

SF マガジン= SF magazine 61 (4), 240-250  2020

Sensation imparting device, robot control system, and robot control method

CL Fernando, S Tachi, G Sano, K Minamizawa

US Patent App. 16/684,624  2020

Interest Arousal by Haptic Feedback During a Storytelling for Kindergarten Children

M Shibasaki, Y Kamiyama, E Czech, K Obata, Y Wakamoto, K Kishi, ...

International Conference on Human Haptic Sensing and Touch Enabled Computer … (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics))  12272 LNCS   518 - 526 2020

ISSN  9783030581466

　View Summary

In this paper, we introduce “Kinder BURU BURU cushion” a vibrotactile cushion that is used during storytelling time to grab the attention of children to help them to focus on the story. We conducted field tests using our system, which confirmed that children were more interested in a story when using our system compared to normal storytelling. For this research, we collaborated with a printing company and a picture book company, designed our system based on user studies at a kid’s space, and conducted empirical field experiments.

• Access to Document (DOI)

Control device, robot control method, and robot control system

CL Fernando, S Tachi, G Sano, K Minamizawa

US Patent App. 16/684,625  2020

Operation Discrimination Using Skin Vibration:-Study on the Characteristics of Vibration and the Presentation Position-

SUGIURA Shimpei, KATAGIRI Takumi, TANAKA Yoshihiro, MINAMIZAWA Kouta, WATANABE Junji

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) (The Japan Society of Mechanical Engineers)  2020 ( 0 ) 2P1 - M15 2020

　View Summary

<p>We are exploring new applications using haptic sharing. If we were able to capture and perceive the sensations and movements of others into ourselves, we could conduct cooperative works with others on the basis of shared haptic perception. We demonstrated human-robot cooperation by sending human haptic information during the task to the robot. Regarding human-human cooperation, humans need to perceive haptic information and identify the other's state on the task. Therefore, in this paper, the identification of different tool operations by presenting vibrotactile stimulation that reproduces the skin vibration collected during each operation was tested. Performance of the identification was investigated on different positions to present vibrotactile stimulation and on the multi inputs of vibrotactile stimulation.</p>

• Access to Document (DOI)

Interest Arousal by Haptic Feedback During a Storytelling for Kindergarten Children

M Shibasaki, Y Kamiyama, E Czech, K Obata, Y Wakamoto, K Kishi, ...

International Conference on Human Haptic Sensing and Touch Enabled Computer … (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics))  12272 LNCS   518 - 526 2020

ISSN  9783030581466

　View Summary

In this paper, we introduce “Kinder BURU BURU cushion” a vibrotactile cushion that is used during storytelling time to grab the attention of children to help them to focus on the story. We conducted field tests using our system, which confirmed that children were more interested in a story when using our system compared to normal storytelling. For this research, we collaborated with a printing company and a picture book company, designed our system based on user studies at a kid’s space, and conducted empirical field experiments.

• Access to Document (DOI)

皮膚振動を用いた作業識別 一振動の特徴と提示部位に関する検討一

杉浦慎平， 片桐拓海， 田中由浩， 南澤孝太， 渡邊淳司

ロボティクス・メカトロニクス講演会講演概要集 2020, 2P1-M15  2020

Signal processing apparatus and signal processing method

H Kim, M Yoshino, M Inami, K Minamizawa, Y Sugiura, Y Mizushina, ...

US Patent 10,705,620  2020

Signal processing apparatus and signal processing method

H Kim, M Yoshino, M Inami, K Minamizawa, Y Sugiura, S Kasahara

US Patent 10,674,304  2020

Shared Haptic Perception for Human-Robot Collaboration

K Katayama, M Pozzi, Y Tanaka, K Minamizawa, D Prattichizzo

International Conference on Human Haptic Sensing and Touch Enabled Computer … (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics))  12272 LNCS   536 - 544 2020

ISSN  9783030581466

　View Summary

To obtain a fluent human-robot collaboration, reciprocal awareness is fundamental. In this paper, we propose to achieve it by creating a haptic connection between the human operator and the collaborative robot. Data coming from a wearable skin vibration sensor are used by the robot to recognize human actions, and vibrotactile signals are used to inform the human about the correct recognition of her/his actions. It is shown that the proposed communication paradigm, based on shared haptic perception, allows to improve cycle time performance in a complex human-robot collaborative task.

• Access to Document (DOI)

SF の射程距離 (第 5 回) 身体という 「距離」 を超える

南澤孝太

SF マガジン= SF magazine 61 (4), 240-250  2020

Sensation imparting device, robot control system, and robot control method

CL Fernando, S Tachi, G Sano, K Minamizawa

US Patent App. 16/684,624  2020

Synesthesia Wear: Full-body haptic clothing interface based on two-dimensional signal transmission

T Furukawa, N Hanamitsu, Y Kamiyama, H Nii, C Krekoukiotis, ...

SIGGRAPH Asia 2019 Emerging Technologies, 48-50 (SIGGRAPH Asia 2019 Emerging Technologies, SA 2019)     48 - 50 2019.11

ISSN  9781450369428

　View Summary

© 2019 Copyright held by the owner/author(s). In this paper, we present Synesthesia Wear, a full-body, customizable haptic interface, and demonstrate its capabilities with an untethered spatial computing experience. This wear not only looks as flexible as ordinary cloth, but also the attached modules are powered and controlled through this conductive textile via two-dimensional signal transmission(2DST) technology. The haptic modules have a pin, badge-like connector, and it can be freely attached on the conductive textile(Fig.1(b)), enabling users to personally customize the experience to their own liking. This module can render variations of haptic feedback to the torso and all limbs of the body, and visualize representations using LED light patterns. We also designed a spatial computing experience(Fig.1(c)) inspired by the perceptual phenomenon called synesthesia. The system provides an sensory blended experience in which the user walks around freely in real space. The user can interact with real and virtual environments, in a reality-overlapping way by wearing Synesthesia Wear.

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Identification of glycyrrhizin metabolites in humans and of a potential biomarker of liquorice-induced pseudoaldosteronism: a multi-centre cross-sectional study

Takahashi Kanon, Yoshino Tetsuhiro, Maki Yasuhito, Ishiuchi Kan'ichiro, Namiki Takao, Ogawa-Ochiai Keiko, Minamizawa Kiyoshi, Makino Toshiaki, Nakamura Tomonori, Mimura Masaru, Watanabe Kenji

ARCHIVES OF TOXICOLOGY 93 ( 11 ) 3111 - 3119 2019.11

ISSN  0340-5761

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TeleSight: enabling asymmetric collaboration in VR between HMD user and Non-HMD users

T Furukawa, D Yamamoto, M Sugawa, R Peiris, K Minamizawa

ACM SIGGRAPH 2019 Emerging Technologies, 26 (ACM SIGGRAPH 2019 Emerging Technologies, SIGGRAPH 2019)   2019.07

ISSN  9781450363082

　View Summary

© 2019 Copyright held by the owner/author(s). In this paper, we propose "TeleSight", proof-of-concept prototype enabling asymmetric collaboration in VR between HMD user and Non-HMD users. TeleSight provides two interaction layers for designing asymmetric interaction, a physical layer for direct tangible interaction with players in VR space and visual layer that visually expresses VR space. Each layer is constructed by an avatar robot that imitates the motion of the HMD user, and a projection system. Non-HMD users can understand what happens in the virtual world by each interaction layers. Also, Non-HMD users can interact tangibly with the players in VR space throughout avatar robot. TeleSight provides that cooperative co-located gameplay between HMD user and Non-HMD users through experience scenarios using two layers.

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Arque artificial biomimicry-inspired tail for extending innate body functions

Nabeshima J., Yamen Saraiji M., Minamizawa K.

ACM SIGGRAPH 2019 Emerging Technologies, SIGGRAPH 2019 (ACM SIGGRAPH 2019 Emerging Technologies, SIGGRAPH 2019)   2019.07

ISSN  9781450363082

　View Summary

© 2019 Copyright held by the owner/author(s). For most mammals and vertebrate animals, tail plays an important role for their body providing variant functions to expand their mobility, or as a limb that allows manipulation and gripping. In this work, Arque, we propose an artificial biomimicry-inspired anthropomorphic tail to allow us alter our body momentum for assistive, and haptic feedback applications. The proposed tail consists of adjacent joints with a spring-based structure to handle shearing and tangential forces, and allow managing the length and weight of the target tail. The internal structure of the tail is driven by four pneumatic artificial muscles providing the actuation mechanism for the tail tip. Here we highlight potential applications for using such prosthetic tail as an extension of human body to provide active momentum alteration in balancing situations, or as a device to alter body momentum for full-body haptic feedback scenarios.

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Arque: artificial biomimicry-inspired tail for extending innate body functions

J Nabeshima, MHDY Saraiji, K Minamizawa

ACM SIGGRAPH 2019 Posters, 1-2 (ACM SIGGRAPH 2019 Posters, SIGGRAPH 2019)   2019.07

ISSN  9781450363143

　View Summary

© 2019 Copyright held by the owner/author(s). For most mammals and vertebrate animals, tail plays an important role for their body providing variant functions to expand their mobility, or as a limb that allows manipulation and gripping. In this work, Arque, we propose an artificial biomimicry-inspired anthropomorphic tail to allow us alter our body momentum for assistive, and haptic feedback applications. The proposed tail consists of adjacent joints with a spring-based structure to handle shearing and tangential forces, and allow managing the length and weight of the target tail. The internal structure of the tail is driven by four pneumatic artificial muscles providing the actuation mechanism for the tail tip. Here we highlight potential applications for using such prosthetic tail as an extension of human body to provide active momentum alteration in balancing situations, or as a device to alter body momentum for full-body haptic feedback scenarios.

• Access to Document (DOI)

Designing a full-body customizable haptic interface using two-dimensional signal transmission

T Furukawa, N Hanamitsu, Y Kamiyama, H Nii, C Krekoukiotis, ...

ACM SIGGRAPH 2019 Posters, 54 (ACM SIGGRAPH 2019 Posters, SIGGRAPH 2019)   2019.07

ISSN  9781450363143

• Access to Document (DOI)

HAPTIC PLASTeR: soft, thin, light and flexible haptic display using DEA composed of slide-ring material for daily life

T Kurogi, Y Yonehara, RL Peiris, T Fujiwara, K Minamizawa

ACM SIGGRAPH 2019 Emerging Technologies, 15 (ACM SIGGRAPH 2019 Emerging Technologies, SIGGRAPH 2019)   2019.07

ISSN  9781450363082

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PinocchioVR

M Uju, K Shirota, R Peiris, K Minamizawa

ACM SIGGRAPH 2019 Emerging Technologies, 21 (ACM SIGGRAPH 2019 Emerging Technologies, SIGGRAPH 2019)   2019.07

ISSN  9781450363082

　View Summary

© 2019 Copyright held by the owner/author(s). In the Pinocchio fairy tale, the nose of a boy extends when he lies. Inspired by this tale, we created a Pinocchio VR system that presents the feeling of the nose extending through body ownership illusion. This illusion is created by pulling the nose while presenting the visuals of the nose growing in the head mounted display. Our research that explored different combinations of haptics and visuals indicated that the the minimum requirement for this body ownership illusion is the visuals and the’nose-pulling’ haptic sensation. Thus, the PinocchioVR system consists of a head mounted display and an integrated haptic nose-pulling mechanism. Furthermore, in this demonstration, we explore olfactory and vibrotactile sensations as multimodal effects to present new experiences such as interacting with far away objects with your nose, extending the nose to smell foods at a distance, and even, experience what it would feel like to hang clothes on your elongated nose.

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Musiarm extending prosthesis to musical expression

Hatakeyama K., Saraiji M., Minamizawa K.

ACM International Conference Proceeding Series (ACM International Conference Proceeding Series)   2019.03

ISSN  9781450365475

　View Summary

©2019 Copyright held by the owner/author(s). The emergence of prosthetic limbs where solely focused on substituting the missing limb with an artificial one, in order for the handicap people to manage their daily life independently. Past research on prosthetic hands has mainly focused on prosthesis' function and performance. Few proposals focused on the entertainment aspect of prosthetic hands. In this research, we considered the defective part as a potential margin for freely designing our bodies, and coming up with new use cases beyond the original function of the limb. Thus, we are not aiming to create anthropomorphic designs or functions of the limbs. By fusing the prosthetic hands and musical instruments, we propose a new prosthetic hand called "MusiArm" that extends the body part's function to become an instrument. MusiArm concept was developed through the dialogue between the handicapped people, engineers and prosthetists using the physical characteristics of the handicapped people as a "new value" that only the handicapped person can possess. We asked handicapped people who cannot play musical instruments, as well as people who do not usually play instruments, to use prototypes we made. As a result of the usability tests, using MusiArm, we made a part of the body function as a musical instrument, drawing out the unique expression methods of individuals, and enjoying the performance and clarify the possibility of showing interests.

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Prosthetic tail artificial anthropomorphic tail for extending innate body functions

Nabeshima J., Saraiji M., Minamizawa K.

ACM International Conference Proceeding Series (ACM International Conference Proceeding Series)   2019.03

ISSN  9781450365475

　View Summary

©2019 Copyright held by the owner/author,. For most mammals and vertebrate animals, tail plays an important role for their body providing variant functions to expand their mobility, or as a limb that allows manipulation and gripping. In this paper, we propose an exploratory biomimicry-inspired anthropomorphic tail design to allow engineering and expanding human body functions. The proposed tail consists of adjacent joints with a spring-based structure to handle shearing and tangential forces, and allow managing the length and weight of the target tail. The internal structure of the tail is driven by four pneumatic artificial muscles providing the actuation mechanism for the tail tip. Here we describe the design and implementation process, and highlight potential applications for using such prosthetic tail.

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Liquid-VR-Wetness Sensations for Immersive Virtual Reality Experiences

K Shirota, M Uju, R Peiris, K Minamizawa

International AsiaHaptics conference, 252-255 (Lecture Notes in Electrical Engineering)  535   252 - 255 2019

ISSN  9789811331930

　View Summary

© 2019, Springer Nature Singapore Pte Ltd. We propose Liquid-VR, a system that simulates wetness and liquid sensations for the whole body by providing a combination of thermal and vibrotactile stimuli from the user’s face and across the upper body to the lower body. A head mounted display with thermal and vibrotactile modules simulates the wetness sensations on the face with the displayed visuals. These sensations are carried through out the body by using an array of vibrotactile modules placed on the collarbones and the feet actuated to simulate moving phantom sensations. We demonstrate this experience through virtual reality application scenarios such as being in a shower or being in side a glass of liquid.

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ThermalBracelet: Exploring Thermal Haptic Feedback Around the Wrist

RL Peiris, YL Feng, L Chan, K Minamizawa

Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems … (Conference on Human Factors in Computing Systems - Proceedings)   2019

ISSN  9781450359702

　View Summary

© 2019 Association for Computing Machinery. Smartwatches enable the wrist to be used as an ideal location to provide always-available haptic notifications as they are constantly worn with direct contact with the skin. With the wrist straps, the haptic feedback can be extended to the full space around the wrist to provide more spatial and enhanced feedback. With ThermalBracelet, we investigate thermal feedback as a haptic feedback modality around the wrist. We present three studies that lead to the development of a smartwatch-integratable thermal bracelet that stimulates six locations around the wrist. Our initial evaluation reports on the selection of the thermal module configurations. Secondly, with the selected six-module configuration, we explore its usability in real-world scenarios such as walking and reading. Thirdly, we investigate its capability of providing spatio temporal feedback while engaged in distracting tasks. Finally we present application scenarios that demonstrates its usability.

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Prosthetic Tail: Artificial Anthropomorphic Tail for Extending Innate Body Functions

J Nabeshima, MHD Saraiji, K Minamizawa

Proceedings of the 10th Augmented Human International Conference 2019, 36 (The Japan Society of Mechanical Engineers)  2019 ( 0 ) 1P1 - H07 2019

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<p>For most mammals and vertebrate animals, tail plays an important role for their body providing variant functions to expand their mobility, or as a limb that allows manipulation and gripping. In this paper, we propose an exploratory biomimicry-inspired anthropomorphic tail design to allow engineering and expanding human body functions. The proposed tail consists of adjacent joints with a spring-based structure to handle shearing and tangential forces, and allow managing the length and weight of the target tail. The internal structure of the tail is driven by four pneumatic artificial muscles providing the actuation mechanism for the tail tip. Here we describe the design and implementation process, and highlight potential applications for using such prosthetic tail.</p>

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MusiArm: Extending Prosthesis to Musical Expression

K Hatakeyama, MHD Saraiji, K Minamizawa

Proceedings of the 10th Augmented Human International Conference 2019, 29  2019

Altered pinna: exploring shape change of pinna for perception and illusion of sound direction change

K Shirota, RL Peiris, K Minamizawa

Proceedings of the 23rd International Symposium on Wearable Computers, 220-224 (Proceedings - International Symposium on Wearable Computers, ISWC)     220 - 224 2019

ISSN  9781450368704

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© 2019 Copyright held by the owner/author(s). Publication rights licensed to ACM. This study demonstrates that by opening and closing the human pinna, we can change the direction of sound perceived by humans. Each ear was independently transformed into a 100% open, 50% open, and 100% closed state, and all 9 combinations of these ear transformations were tested to evaluate the perceived direction of the sound output from 7 speakers placed 180 degrees around the subject. We demonstrate that by deforming the pinna, we could change the perception of the direction of sound, or make it illusory. We also found that except for 1 out of 7 speakers (or directions of sound), closing 100% of the ear on the side of the speaker where the sound is coming from and 50% of the ear on the other side of the speaker tends produce the most alteration to the perceived direction of sound.

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Arque: artificial biomimicry-lnspired tail for extending innate body functions

J Nabeshima, MHD Saraiji, K Minamizawa

ACM SIGGRAPH 2019 Emerging Technologies, 8  2019

Multi-modal Design to Promote Social Engagement with Dementia Patients

E Czech, M Shibasaki, K Tsuchiya, R Peiris, K Minamizawa

2019 IEEE World Haptics Conference (WHC), 43-48 (2019 IEEE World Haptics Conference, WHC 2019)     43 - 48 2019

ISSN  9781538694619

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© 2019 IEEE. Haptic technologies applied as a means of fulfilling the social needs of dementia patients is an unexplored area of research. Patients with dementia face many limitations that prevent them from engaging with others. For example, as dementia progresses, it becomes more difficult to communicate verbally. We propose a multi-modal system that is personalized and incorporates both active and passive haptic elements can bridge the communication gap between verbal and non-verbal communicators and improve interpersonal relationships. We applied a community-centered design methodology to develop our technological solution so that it would be functional and appropriate for our target audience. We tested our solution, a book which incorporated haptic technologies, with our target audience, and our preliminary analysis of their feedback suggests that there are many opportunities in which multimodal systems can be used to improve the social engagement of dementia patients.

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Synchronized Running: Running Support System for Guide Runners by Haptic Sharing in Blind Marathon

T Hirano, J Kanebako, MHDY Saraiji, RL Peiris, K Minamizawa

2019 IEEE World Haptics Conference (WHC), 25-30 (2019 IEEE World Haptics Conference, WHC 2019)     25 - 30 2019

ISSN  9781538694619

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© 2019 IEEE. Blind marathon is a sport where visually impaired people can run with sighted guides in pairs. In this paper, we present an assistant system for blind marathon runners called "Synchronized Running" that improves the guidance experience for the runners. Our proposed system allows both runners to match their running tempo and synchronize with each other, similar to a three-legged race case, without any direct physical attachment. Two modules are located on the ankle of both runners, that measure the acceleration of the visually impaired runner, and provide haptic feedback to the guide's ankle according the tempo of the running pace. This synchronization allows the guide to grasp a comfortable running pace towards the visually impaired person, allowing seamless running communication between both runners. The evaluation results indicate that our system encourage runners (primarily novice guides) to achieve comfortable guidance running experience toward the blind runners.

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Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K OBANA, K Kawai, J Miyatake, M Inami, K MINAMIZAWA

US Patent App. 10/286,310  2019

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K OBANA, K Kawai, J Miyatake, M Inami, K MINAMIZAWA

US Patent App. 10/286,310  2019

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K OBANA, K Kawai, J Miyatake, M Inami, K MINAMIZAWA

US Patent App. 10/286,310  2019

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K Obana, K Kawai, J Miyatake, M Inami, K Minamizawa

US Patent 10,286,310  2019

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K OBANA, K Kawai, J Miyatake, M Inami, K MINAMIZAWA

US Patent App. 10/286,310  2019

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K OBANA, K Kawai, J Miyatake, M Inami, K MINAMIZAWA

US Patent App. 10/286,310  2019

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K Obana, K Kawai, J Miyatake, M Inami, K Minamizawa

US Patent 10,286,310  2019

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K OBANA, K Kawai, J Miyatake, M Inami, K MINAMIZAWA

US Patent App. 10/286,310  2019

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K OBANA, K Kawai, J Miyatake, M Inami, K MINAMIZAWA

US Patent App. 10/286,310  2019

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K Obana, K Kawai, J Miyatake, M Inami, K Minamizawa

US Patent 10,286,310  2019

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K OBANA, K Kawai, J Miyatake, M Inami, K MINAMIZAWA

US Patent App. 10/286,310  2019

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K OBANA, K Kawai, J Miyatake, M Inami, K MINAMIZAWA

US Patent App. 10/286,310  2019

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K OBANA, K Kawai, J Miyatake, M Inami, K MINAMIZAWA

US Patent App. 10/286,310  2019

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K OBANA, K Kawai, J Miyatake, M Inami, K MINAMIZAWA

US Patent App. 10/286,310  2019

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K OBANA, K Kawai, J Miyatake, M Inami, K MINAMIZAWA

US Patent App. 10/286,310  2019

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K OBANA, K Kawai, J Miyatake, M Inami, K MINAMIZAWA

US Patent App. 10/286,310  2019

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K OBANA, K Kawai, J Miyatake, M Inami, K MINAMIZAWA

US Patent App. 10/286,310  2019

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K OBANA, K Kawai, J Miyatake, M Inami, K MINAMIZAWA

US Patent App. 10/286,310  2019

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K OBANA, K Kawai, J Miyatake, M Inami, K MINAMIZAWA

US Patent App. 10/286,310  2019

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K OBANA, K Kawai, J Miyatake, M Inami, K MINAMIZAWA

US Patent App. 10/286,310  2019

Invisible Long Arm Illusion: Body ownership of invisible elongated arm and behavioral change of reaching by visual-motor synchronicity of hands and feet

Kondo Ryota, Ueda Sachiyo, Sugimoto Maki, Minamizawa Kota, Inami Masahiko, Kitazaki Michiteru

Transactions of the Virtual Reality Society of Japan (THE VIRTUAL REALITY SOCIETY OF JAPAN)  24 ( 4 ) 351 - 360 2019

ISSN  1344-011X

　View Summary

<p>We feel as if a fake body is our own body by synchronicity between the fake body and the real body (illusory body ownership). The illusory body ownership can be induced to an invisible full body via the synchronous movement of only the hands and feet. We aimed to investigate whether the illusory ownership occurs to a virtual body with an elongated arm by changing position of the one of the hands, and it changes reaching behavior and/or postural stability. We found that the illusory body ownership was induced to the transformed body by synchronous movement of the hands and feet. Participants' reaching behavior gradually changed to use the longer arm more than the normal arm during learning of the transformed body within 10 min. Postural stability did not change. These results suggest that we can have illusory ownership of the transformed body with the elongated arm, and our behavior adaptively changes to utilize the new body.</p>

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Basic Study on Psychological Effects by Tactile Perception of Other's Tactile Sensations

SUGIURA Shimpei, TANAKA Yoshihiro, MINAMIZAWA Kouta, WATANABE Junji

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) (The Japan Society of Mechanical Engineers)  2019 ( 0 ) 1P2 - T10 2019

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<p>Tactile information might be relevant to communication. In recent years, tactile technologies have been developed and it is becoming possible to share tactile sensations to other persons. However, psychological effects of perception of other person's tactile sensations is much less clear. In this study, we aim to investigate psychological effects of receiving tactile information of other person. By using a wearable tactile sensor and a vibrator, image with tactile sensations is compared with that without tactile sensations through questionnaire evaluation.</p>

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Prosthetic Tail:—身体機能を補綴する拡張身体としての人工尾—

鍋島， 南澤孝太

ロボティクス・メカトロニクス講演会講演概要集 2019, 1P1-H07  2019

Prosthetic Tail

鍋島純一， 南澤孝太

ロボティクス・メカトロニクス講演会講演概要集 2019, 1P1-H07  2019

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K OBANA, K Kawai, J Miyatake, M Inami, K MINAMIZAWA

US Patent App. 10/286,310  2019

Tactile information conversion device, tactile information conversion method, tactile information conversion program, and element arrangement structure

S Tachi, M Nakatani, K Sato, K Minamizawa, H Kajimoto

US Patent App. 16/153,008  2019

Tactile information conversion device, tactile information conversion method, and tactile information conversion program

S Tachi, M Nakatani, K Sato, K Minamizawa, H Kajimoto

US Patent App. 16/152,982  2019

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K OBANA, K Kawai, J Miyatake, M Inami, K MINAMIZAWA

US Patent App. 10/286,310  2019

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K OBANA, K Kawai, J Miyatake, M Inami, K MINAMIZAWA

US Patent App. 10/286,310  2019

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K OBANA, K Kawai, J Miyatake, M Inami, K MINAMIZAWA

US Patent App. 10/286,310  2019

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K OBANA, K Kawai, J Miyatake, M Inami, K MINAMIZAWA

US Patent App. 10/286,310  2019

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K OBANA, K Kawai, J Miyatake, M Inami, K MINAMIZAWA

US Patent App. 10/286,310  2019

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K OBANA, K Kawai, J Miyatake, M Inami, K MINAMIZAWA

US Patent App. 10/286,310  2019

Prosthetic Tail—身体機能を補綴する拡張身体としての人工尾—

鍋島純一， 南澤孝太

ロボティクス・メカトロニクス講演会講演概要集 2019, 1P1-H07  2019

KAN. KA: evaluating across-body vibrotactile patterns for the design of affective furniture Sub Title Author Chandra, Marcellina Yurike (Minamizawa, Kōta) 南澤, 孝太 Publisher …

MY Chandra

 2019

IEEE World Haptics Conference 2019 報告

篠田裕之， 梶本裕之， 矢野博明， 南澤孝太， 牧野泰才， 古川正紘， ...

Journal of the Virtual Reality Society of Japan (The Virtual Reality Society of Japan)  24 ( 4 ) 29 - 38 2019

ISSN  1342-6680

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IEEE World Haptics Conference 2019 報告

篠田裕之， 梶本裕之， 矢野博明， 南澤孝太， 牧野泰才， 古川正紘， ...

Journal of the Virtual Reality Society of Japan (The Virtual Reality Society of Japan)  24 ( 4 ) 29 - 38 2019

ISSN  1342-6680

• Access to Document (DOI)

Prosthetic Tail—身体機能を補綴する拡張身体としての人工尾—

鍋島純一， 南澤孝太

ロボティクス・メカトロニクス講演会講演概要集 2019, 1P1-H07  2019

KAN. KA: evaluating across-body vibrotactile patterns for the design of affective furniture Sub Title Author Chandra, Marcellina Yurike (Minamizawa, Kōta) 南澤, 孝太 Publisher …

MY Chandra

 2019

Arque

J Nabeshima, MHDY Saraiji, K Minamizawa

ACM SIGGRAPH 2019 Posters  2019

TeleSight

T Furukawa, D Yamamoto, M Sugawa, R Peiris, K Minamizawa

ACM SIGGRAPH 2019 Emerging Technologies  2019

ThermalBracelet

RL Peiris, YL Feng, L Chan, K Minamizawa

Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems  2019

Illusory body ownership of an invisible body interpolated between virtual hands and feet via visual-motor synchronicity

R Kondo, M Sugimoto, K Minamizawa, T Hoshi, M Inami, M Kitazaki

Scientific reports 8 (1), 7541 (Scientific Reports)  8 ( 1 )  2018.12

ISSN  2045-2322

　View Summary

© 2018 The Author(s). Body ownership can be modulated through illusory visual-tactile integration or visual-motor synchronicity/contingency. Recently, it has been reported that illusory ownership of an invisible body can be induced by illusory visual-tactile integration from a first-person view. We aimed to test whether a similar illusory ownership of the invisible body could be induced by the active method of visual-motor synchronicity and if the illusory invisible body could be experienced in front of and facing away from the observer. Participants observed left and right white gloves and socks in front of them, at a distance of 2 m, in a virtual room through a head-mounted display. The white gloves and socks were synchronized with the observers' actions. In the experiments, we tested the effect of synchronization, and compared this to a whole-body avatar, measuring self-localization drift. We observed that visual hands and feet were sufficient to induce illusory body ownership, and this effect was as strong as using a whole-body avatar.

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MetaArmS: Body remapping using feet-controlled artificial arms

Yamen Saraiji M., Sasaki T., Kunze K., Minamizawa K., Inami M.

UIST 2018 - Proceedings of the 31st Annual ACM Symposium on User Interface Software and Technology (UIST 2018 - Proceedings of the 31st Annual ACM Symposium on User Interface Software and Technology)     65 - 74 2018.10

ISSN  9781450359481

　View Summary

© 2018 ACM. We introduce MetaArms, wearable anthropomorphic robotic arms and hands with six degrees of freedom operated by the user's legs and feet. Our overall research goal is to re-imagine what our bodies can do with the aid of wearable robotics using a body-remapping approach. To this end, we present an initial exploratory case study. MetaArms' two robotic arms are controlled by the user's feet motion, and the robotic hands can grip objects according to the user's toes bending. Haptic feedback is also presented on the user's feet that correlate with the touched objects on the robotic hands, creating a closed-loop system. We present formal and informal evaluations of the system, the former using a 2D pointing task according to Fitts' Law. The overall throughput for 12 users of the system is reported as 1.01 bits/s (std 0.39). We also present informal feedback from over 230 users. We find that MetaArms demonstrate the feasibility of body-remapping approach in designing robotic limbs that may help us re-imagine what the human body could do.

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MetaArmS: Body remapping using feet-controlled artificial arms

Sasaki T., Saraiji Y., Minamizawa K., Inami M.

UIST 2018 Adjunct - Adjunct Publication of the 31st Annual ACM Symposium on User Interface Software and Technology (UIST 2018 Adjunct - Adjunct Publication of the 31st Annual ACM Symposium on User Interface Software and Technology)     140 - 142 2018.10

ISSN  9781450359498

　View Summary

© 2018 Copyright held by the owner/author(s). We introduce MetaArms, wearable anthropomorphic robotic arms and hands with six degrees of freedom operated by the user's legs and feet. Our overall research goal is to re-imagine what our bodies can do with the aid of wearable robotics using a body-remapping approach. To this end, we present an initial exploratory case study. MetaArms' two robotic arms are controlled by the user's feet motion, and the robotic hands can grip objects according to the user's toes bending. Haptic feedback is also presented on the user's feet that correlate with the touched objects on the robotic hands, creating a closed-loop system. Using this system, users can experience an expanded number of arms interaction in which there legs are mapped into the artificial limbs. MetaArms provided initial indications for the sense of limbs alteration.

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Illusory Body Ownership between Different Body Parts: Synchronization of Right Thumb and Right Arm

R Kondo, M Sugimoto, K Minamizawa, M Inami, M Kitazaki, Y Tani

2018 IEEE Conference on Virtual Reality and 3D User Interfaces (VR), 611-612 (25th IEEE Conference on Virtual Reality and 3D User Interfaces, VR 2018 - Proceedings)     611 - 612 2018.08

ISSN  9781538633656

　View Summary

© 2018 IEEE. Illusory body ownership can be induced by visual-Tactile stimulation or visual-motor synchronicity. We aimed to test whether a right thumb could be remapped to a virtual right arm and illusory body ownership of the virtual arm induced through synchronous movements of the right thumb and the virtual right arm. We presented the virtual right arm in synchronization with movements of a participant's right thumb on a head-mounted display (HMD). We found that the participants felt as though their right thumb became the right arm, and that the right arm belonged to their own body.

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Skin+: programmable skin as a visuo-tactile interface

F Cao, MHD Saraiji, K Minamizawa

ACM SIGGRAPH 2018 Posters, 71 (ACM SIGGRAPH 2018 Posters, SIGGRAPH 2018)   2018.08

ISSN  9781450358170

　View Summary

© 2018 Copyright held by the owner/author(s). Wearable technologies have been supporting and augmenting our body and sensory functions for a long time. Skin+ introduces a novel bidirectional on-skin interface that serve not only as haptic feedback to oneself but also as a visual display to mediate touch sensation to others as well. In this paper, we describe the design of Skin+ and its usability in a variety of applications. We use a shape-changing auxetic structure to build this programmable coherent visuo-tactile interface. The combination of shape-memory alloy with an auxetic structure enables a lightweight haptic device that can be worn seamlessly on top of our skin.

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Bubble Jumper

R Ando, A Ando, K Kunze, K Minamizawa

1st International Superhuman Sports Design Challenge, SHS 2018 (ACM International Conference Proceeding Series)  Part F137697 2018.07

ISSN  9781450364072

　View Summary

© 2018 Association for Computing Machinery. This paper introduces Bubble Jumper, a super human sport enhancing your jump and enlarge your bodies circumference (grith) simulating an augmented sumo wrestler. We focus on the experience of superhuman strength in the legs and giving you the feeling of a larger body for the sport. We present the historical context of Sumo as well as our approach to augment the sport into Bubble Jumper. We show some early design prototypes and the iterative process to improve them, as well as rules and ideas for digital augmentation of the sport.

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Anyorbit: orbital navigation in virtual environments with eye-tracking.

BI Outram, YS Pai, T Person, K Minamizawa, K Kunze

ETRA, 45:1-45:5 (Eye Tracking Research and Applications Symposium (ETRA))   2018.06

ISSN  9781450357067

　View Summary

© 2018 Copyright held by the owner/author(s). Publication rights licensed to Association for Computing Machinery. Gaze-based interactions promise to be fast, intuitive and effective in controlling virtual and augmented environments. Yet, there is still a lack of usable 3D navigation and observation techniques. In this work: 1) We introduce a highly advantageous orbital navigation technique, AnyOrbit, providing an intuitive and hands-free method of observation in virtual environments that uses eye-tracking to control the orbital center of movement; 2) The versatility of the technique is demonstrated with several control schemes and use-cases in virtual/augmented reality head-mounted-display and desktop setups, including observation of 3D astronomical data and spectator sports.

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Crystal Vibes feat. Ott: A psychedelic musical virtual reality experience utilising the full-body vibrotactile haptic synesthesia suit

B Outram, Y Konishi, A Shimbo, R Shimizu, K Minamizawa, A Sato, ...

2017 23rd International Conference on Virtual System & Multimedia (VSMM), 1-4 (Proceedings of the 2017 23rd International Conference on Virtual Systems and Multimedia, VSMM 2017)  2018-January   1 - 4 2018.04

ISSN  9781538644935

　View Summary

© 2017 IEEE. Immersive media technology such as virtual reality provides the unique opportunity to place participants in multi-sensory hyper-connected universes where auditory and visual senses are intimately connected, and worlds can be built out of fractal geometries. Crystal Vibes is an artistic piece that combines spatial audio, endless fractal geometries, full-body haptic vibration feedback and sound-to-colour visualisation based on empirical biological functions related to human auditory and visual perception. Exhibited at Sundance Film Festival New Frontier in January 2017, and at Kaleidoscope Showcase Vol. 2 in 10 cities across the world, in this paper we report on insights from user feedback, as well as details of the technical implementation, including real-time rendering of seemingly infinite fractal-like structures, the haptic design philosophy and the sound-visualisation technique. Finally, we comment on the psychology and utility of such virtual environments.

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Ambient: Facial thermal feedback in remotely operated applications

MHD Saraiji, RL Peiris, L Shen, K Minamizawa, S Tachi

Extended Abstracts of the 2018 CHI Conference on Human Factors in Computing … (Conference on Human Factors in Computing Systems - Proceedings)  2018-April 2018.04

ISSN  9781450356213

　View Summary

Copyright held by the owner/author(s). Facial thermoreception plays an important role in mediating surrounding ambient and direct feeling of temperature and touch, enhancing our subjective experience of presence. Such sensory modality has not been well explored in the field of Telepresence and Telexistence. We present Ambient, an enhanced experience of remote presence that consists of a fully facial thermal feedback system combined with the first person view of Telexistence systems. Here, we present an overview of the design and implementation of Ambient, along with scenarios envisioned for social and intimate applications.

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Unconstrained neck: Omnidirectional observation from an extra robotic neck

L Shen, MY Saraji, K Kunze, K Minamizawa

Proceedings of the 9th Augmented Human International Conference, 38 (ACM International Conference Proceeding Series)   2018.02

ISSN  9781450354158

　View Summary

© 2018 Copyright held by the owner/author(s) ACM. Humans are born with physiological limitations in terms of the sensory and motor abilities. Due to the narrow range of motion of the neck and the small visual field of the eyes, the human visual sense is limited in terms of the spatial range.We address this visual limitation by proposing a programmable neck that can leverage the range of motion limits. Unconstrained Neck, a head-mounted robotic neck, is a substitution neck system which provides a wider range of motion enabling humans to overcome the physical constraints of the neck. Using this robotic neck, it is possible to control the visual/motor gain which allows the user to thus control the range and speed of his effective neck motion or visual motion.

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3D Printed Haptics: Creating Pneumatic Haptic Display Based on 3D Printed Airbags

YL Feng, RL Peiris, CL Fernando, K Minamizawa

International Conference on Human Haptic Sensing and Touch Enabled Computer … (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics))  10894 LNCS   180 - 192 2018

ISSN  9783319933986

　View Summary

© Springer International Publishing AG, part of Springer Nature 2018. In this paper, we provide a rapid fabrication method to create customizable pneumatic haptic displays using 3D printing technology. Based on the 3d printed miniature airbag which is built form a simple modeling process, various shapes of the haptic display can be made. Not only altering the shape of a single airbag to make a one-dimensional haptic display, but also combining multi airbags as spacial distributed to construct a multi DoF haptic display is possible. The 3D printed airbag is scalable, light to wear and waterproof. Each airbag is inflated by a full-range speaker which mounted on a closed air chamber where the air is transferred back and forth through a tiny nozzle to the airbag. So both low-frequency pressure and high-frequency vibration could be presented. Our technical evaluation identified that the airbag is capable of presenting a wide range of mechanical vibration from 2 Hz to 800 Hz. In addition, a user study was done to investigate the capability of rendering multi degree-of-freedom tactile sensation. The average accuracy of distinguishing directional information is over 80%.

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Mobile hapticaid: Wearable haptic augmentation system using a mobile platform

T Maeda, K Tsuchiya, R Peiris, Y Tanaka, K Minamizawa

International AsiaHaptics conference, 495-497 (Lecture Notes in Electrical Engineering)  432   495 - 497 2018

ISSN  9789811041563

　View Summary

© Springer Nature Singapore Pte Ltd. 2018. In this paper, we propose mobile HapticAid, a wearable haptic augmentation system which combines a polyvinlidene flouride (PVDF) skin vibration sensor, a mobile platform such as iOS devices and TECHTILE amplifier. It can enhance haptic perception through a PVDF skin vibration sensor and vibro-tactile feedback. This system is small enough to be portable. The participants will be able to experience the enhancement of touch objects.

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LiquidReality: Wetness Sensations on the Face for Virtual Reality

RL Peiris, L Chan, K Minamizawa

International Conference on Human Haptic Sensing and Touch Enabled Computer … (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics))  10894 LNCS   366 - 378 2018

ISSN  9783319933986

　View Summary

© Springer International Publishing AG, part of Springer Nature 2018. We present LiquidReality, a wearable system that simulates wetness sensations directly on the user’s face for immersive virtual reality applications. The LiquidReality system consists of a headmounted display integrated with thermal and vibrotactile modules that provides co-located haptic feedback with the displayed visuals. With this system, we conducted a preliminary study that evaluated nine types of thermal and thermal/vibrotactile stimuli to induce a wetness sensation on the user’s face. Our results indicate that thermal only stimuli and low frequency vibrotactile stimuli (combined with thermal) induced better wetness perception. Next, using the results from this preliminary study, we evaluated the immersion enhancement when using the LiquidReality system in combination with related visuals. The results indicate that using the LiquidReality system with related visuals, enhances the level of immersion for the user.

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HaptI/O: Physical I/O Node over the Internet

S Matsuzono, H Nakamura, D Kato, R Peiris, K Minamizawa

International Conference on Human Haptic Sensing and Touch Enabled Computer … (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics))  10894 LNCS   193 - 203 2018

ISSN  9783319933986

　View Summary

© Springer International Publishing AG, part of Springer Nature 2018. Along with the development of information technology and tactile technology, it has become possible to share human haptic experiences via the Internet. In this research, we propose HaptI/O a technology that allows easy sharing and communication of haptic experiences. HaptI/O devices are physical network nodes that can perform as gateways to both input or output the haptic information from a source such as the human body or a tangible object. HaptI/O proposed in this research focuses on the (1) ease of sharing haptic information with a focus on usability (2) share Haptic information among multiple users (3) usage of the HaptI/O as a mobile device. As a result of user testing of the implemented HaptI/O, it was confirmed that user’s information perception in remote communication was improved.

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A tool for collecting and designing haptic experiences

M Shibasaki, Y Kamiyama, K Minamizawa

International AsiaHaptics conference, 433-436 (Lecture Notes in Electrical Engineering)  432   433 - 436 2018

ISSN  9789811041563

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© Springer Nature Singapore Pte Ltd. 2018. In this study, we have designed the device to collect haptic sensations from the surrounding environments and created objects to experience further. We hold on the workshop to verify the effectiveness of the device. As the result this device showed that children became interested in haptic and stimulated creativity.

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A novel multimodal tactile module that can provide vibro-thermal feedback

M Nakatani, K Sato, K Sato, Y Kawana, D Takai, K Minamizawa, S Tachi

International AsiaHaptics conference, 437-443 (Lecture Notes in Electrical Engineering)  432   437 - 443 2018

ISSN  9789811041563

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© Springer Nature Singapore Pte Ltd. 2018. This paper describes a novel tactile module that can provide both vibratory and thermal feedback onto the skin. The module is composed of two different components; miniaturized vibrator and four units of Peltier devices. The dimension of the vibro-thermal tactile feedback device is 16 × 32 × 7 mm, which is small enough for attaching to fingerpad. We describe basic concept of this module, and the state of current prototype including possible applications.

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A finger sensor for sharing visual and tactile experience

H Nakamura, N Hanamitsu, J Kanebako, K Minamizawa

International AsiaHaptics conference, 305-307 (Lecture Notes in Electrical Engineering)  432   305 - 307 2018

ISSN  9789811041563

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© Springer Nature Singapore Pte Ltd. 2018. In demonstration, we show sharing visual and tactile experience using own finger. In our daily life, we often share our experience, such as seeing or hearing, using own smartphone. However, up still now, touch experience is not possible to share in social network services. Here, we propose a capturing sensor, which is able to capture texture and surface by user’s finger, for smartphone device.

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Synesthesia suit

Y Konishi, N Hanamitsu, B Outram, Y Kamiyama, K Minamizawa, A Sato, ...

International AsiaHaptics conference, 499-503 (Lecture Notes in Electrical Engineering)  432   499 - 503 2018

ISSN  9789811041563

　View Summary

© Springer Nature Singapore Pte Ltd. 2018. The Synesthesia Suit provides immersive embodied experience in Virtual Reality environment with vibrotactile sensations on the whole body. Each vibrotactile actuator provides not a simple vibration but we designed the haptic sensation to match virtual reality contents.

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触覚をデザインする: Haptic Design Project の取り組み (小特集 「触覚シミュレーション」 の企画について)

金箱淳一， 柳原一也， 小原和也， 南澤孝太

シミュレーション= Journal of the Japan Society for Simulation Technology 37 (1 …  2018

身体経験のリデザイン

南澤孝太

研究報告アクセシビリティ (AAC) 2018 (5), 1-1  2018

音を触感で感じるワークショップ 「Touch the sound picnic」 実施報告

金箱淳一， 南澤孝太

情報処理学会論文誌デジタルコンテンツ (DCON) 6 (1), iv-viii  2018

Sensory-motor augmentation of the robot with shared human perception

R Ishida, L Meli, Y Tanaka, K Minamizawa, D Prattichizzo

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems … (IEEE International Conference on Intelligent Robots and Systems)     2596 - 2603 2018

ISSN  2153-0858

　View Summary

© 2018 IEEE. Robots have replaced people in many manufacturing production lines but the information they gather from sensors might not be sufficient to autonomously accomplish dexterous manipulation operations. Symbiotic human-robot cooperation appears to be a more realistic near future in industrial scenarios. In this paper we present a configuration of human-robot collaboration in which the robot is sensory-augmented by means of a set of tactile signals coming from the human operator. The incorporation of low-level robot 'intelligence' permits the cooperative manipulation of an object while enabling the human operator to stay focused on task itself and carry it out in the most natural way. The effectiveness of this approach is demonstrated in a use case in which a robot helps a human operator to successfully accomplish a writing task. System performance has been evaluated, considering several positions of the tiny vibration sensor in charge of gathering the human perception, by testing it on both the human hand and the co-manipulated object. Results suggest that the sensor provides valuable information for recognizing operator actions when it is placed either on the human hand or on the co-manipulated object. However, the sensor on the finger directly represents the operator's perception, while the output of the sensor attached to the object changes according to the distance between the interaction point and the sensor itself. In addition, in wearing the sensor, neither the object nor the robot need to be instrumented: the operator is free to interact with a large set of objects and collaborate with any existing robot without requiring supplemental equipment.

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Scalable Autostereoscopic Display for Interaction with Floating Images

T Kurogi, H Nii, RL Peiris, K Minamizawa

Proceedings of the 2018 ACM International Conference on Interactive Surfaces … (ISS 2018 - Proceedings of the 2018 ACM International Conference on Interactive Surfaces and Spaces)     453 - 456 2018

ISSN  9781450356947

　View Summary

© 2018 Authors. The purpose of this paper is to introduce using scalable autostereoscopic displays that allow users to interact with floating images publicly, such as for digital signage. By tiling multiple display modules, it is possible to project larger autostereoscopic images in the air than by displaying it using a single display module. By projecting autostereoscopic images, it is possible for the user to understand the contents in better detail compared to a standard 2D public displays. Furthermore, by projecting floating images, it is possible to reduce the spatial divergence between the user's body and the autostereoscopic images, so that the user can interact intuitively with autostereoscopic images. Moreover, since this system has scalability, it is possible to expand the screen size just by adding more display modules. This expandability makes the system easy to move and arrange in public spaces. In this paper, we propose an autostereoscopic display module which can enlarge the screen size in the horizontal direction as the first step to realizing our concept.

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Fusion Full Body Surrogacy for Collaborative Communication

Saraiji M. H. D. Yamen, Sasaki Tomoya, Matsumura Reo, Minamizawa Kouta, Inami Masahiko

SIGGRAPH'18: ACM SIGGRAPH 2018 EMERGING TECHNOLOGIES  2018

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Flow Zone A Cross-Modal Music Creation VR Experience to Induce Flow

Person Tanner, Outram Benjamin, Minamizawa Kouta

SA'18: SIGGRAPH ASIA 2018 VIRTUAL & AUGMENTED REALITY  2018

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Construction of Haptic Experience Sharing Platform

H Nakamura, D Kato, R Peiris, K Minamizawa, Y Kamamoto, J Watanabe

Proceedings of the 2018 ACM International Joint Conference and 2018 … (UbiComp/ISWC 2018 - Adjunct Proceedings of the 2018 ACM International Joint Conference on Pervasive and Ubiquitous Computing and Proceedings of the 2018 ACM International Symposium on Wearable Computers)     174 - 177 2018

ISSN  9781450359665

　View Summary

© 2018 Copyright is held by the owner/author(s). In this research, we introduce an experience sharing platform that enables users to record and playback experiences accompanied with haptics. This platform makes it possible to record and reproduce haptic data with tactile sensation added to video and audio by smartphone using file format MPEG-4. In addition, users can share the experiences including haptics by uploading and downloading this haptic data to and from a cloud system. We expect to use it for applications such as finding haptic similarity using tags added at the time of recording. In this paper, we focus on the design and verification of the haptic device, the data format of haptic data, and the cloud system. As a result, we present the effectiveness of data compression and storage of vibration tactile sense into the MPEG-4 container.

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Affective Haptic Furniture: Directional Vibration Pattern to Regulate Emotion

Y Chandra, R Peiris, K Minamizawa

Proceedings of the 2018 ACM International Joint Conference and 2018 … (UbiComp/ISWC 2018 - Adjunct Proceedings of the 2018 ACM International Joint Conference on Pervasive and Ubiquitous Computing and Proceedings of the 2018 ACM International Symposium on Wearable Computers)     25 - 28 2018

ISSN  9781450359665

　View Summary

© Copyright held by the owner/author(s). Emotion regulation is an important part of humans' life and it is not only negative emotion that is harmful but excessive positive emotion could also prevent someone from achieving their goals. For example, high excitement that prevents someone from falling asleep. In our research, we are exploring the use of directional vibration patterns and embedding them onto a furniture to provide more accessibility to useful emotions. We have designed three vibration patterns and implemented them onto a chair-like cushion to evaluate the generated emotions in a user study.

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VibGrip++: Haptic device allows feeling the music for hearing impaired people

J Kanebako, K Minamizawa

International AsiaHaptics conference, 449-452 (Lecture Notes in Electrical Engineering)  432   449 - 452 2018

ISSN  9789811041563

　View Summary

© Springer Nature Singapore Pte Ltd. 2018. We improved a haptic device called “VibGrip (VG)”. The VG allows feeling the music by vibration for hearing impaired people. This device converts audio signal into vibrations that can be felt with the use of the 5 fingers. With 5 actuators, it is possible to feel the different musical part on each finger. The past version was only providing vibrations. “VibGrip++ (VG+)” has 5 pressure sensors it detects how strong grasping the device. This system allows controlling the intensity of each finger’s vibration and also controlling filter-effect intuitively. With this function, people with hearing impaired can feel the vibration of each musical part more clearly and enjoy in the concert.

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Tactile display based on skin-propagated vibration

Y Takekawa, T Hasegawa, Y Tanaka, K Minamizawa, A Sano

International AsiaHaptics conference, 121-123 (Lecture Notes in Electrical Engineering)  432   121 - 123 2018

ISSN  9789811041563

　View Summary

© Springer Nature Singapore Pte Ltd. 2018. We have developed a wearable skin vibration sensor that allows users to touch objects directly. The sensor detects skin-propagated vibrations elicited by mechanical interaction between the fingertip and an object. Here, the sensor output includes properties of the user’s skin as well as the object. In this paper, texture presentation by using the sensor output is investigated. A simple tactile display is assembled with a vibrator. The experimental result shows that the texture presentation utilizing the inverse function of the transfer function of the sensor output gives more natural feeling as compared with the condition without the signal processing.

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Bubble jumper: enhancing the traditional japanese sport sumo with physical augmentation

R Ando, A Ando, K Kunze, K Minamizawa

Proceedings of the First Superhuman Sports Design Challenge: First …  2018

Hand-held information processing apparatus

K Obana, K Kawai, J Miyatake, S Masubuchi, T Aoki, K Yamashita, ...

US Patent 9,906,856  2018

Fusion: full body surrogacy for collaborative communication

MHD Saraiji, T Sasaki, R Matsumura, K Minamizawa, M Inami

ACM SIGGRAPH 2018 Emerging Technologies, 7  2018

Flow zone: a cross-modal music creation VR experience to induce flow

T Person, B Outram, K Minamizawa

SIGGRAPH Asia 2018 Virtual & Augmented Reality, 3  2018

義手のエンターテイメント性の拡張を目指した義手楽器 「Musiarm」 の開発

畠山海人， 中村開， 金箱淳一， 南澤孝太

研究報告アクセシビリティ (AAC) 2018 (25), 1-6  2018

義手のエンターテイメント性の拡張を目指した義手楽器 「Musiarm」 の開発 (福祉情報工学)

畠山海人， 中村開， 金箱淳一， 南澤孝太

電子情報通信学会技術研究報告= IEICE technical report: 信学技報 117 (502 …  2018

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K OBANA, K Kawai, J Miyatake, S Masubuchi, K Yamashita, T Aoki, ...

US Patent App. 10/135,412  2018

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K Obana, K Kawai, J Miyatake, M Inami, K Minamizawa

US Patent App. 15/947,493  2018

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K Obana, K Kawai, J Miyatake, M Inami, K Minamizawa

US Patent 9,968,846  2018

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K Obana, K Kawai, J Miyatake, M Inami, K Minamizawa

US Patent 9,968,846  2018

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K OBANA, K Kawai, J Miyatake, S Masubuchi, K Yamashita, T Aoki, ...

US Patent App. 10/135,412  2018

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K Obana, K Kawai, J Miyatake, M Inami, K Minamizawa

US Patent App. 15/947,493  2018

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K Obana, K Kawai, J Miyatake, M Inami, K Minamizawa

US Patent 9,968,846  2018

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K OBANA, K Kawai, J Miyatake, S Masubuchi, K Yamashita, T Aoki, ...

US Patent App. 10/135,412  2018

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K Obana, K Kawai, J Miyatake, M Inami, K Minamizawa

US Patent App. 15/947,493  2018

Touch the sound picnic: 音-触感変換デバイスを用いた 「音に触れる」 ワークショップ

金箱淳一， 南澤孝太

産業技術大学院大学紀要, 11-19  2018

Skin+ programmable skin as a visuo-tactile interface

F Cao, MHDY Saraiji, K Minamizawa

ACM SIGGRAPH 2018 Posters, 1-2  2018

Scalable Autostereoscopic Display with Temporal Division Method

T Kurogi, H Nii, RL Peiris, K Minamizawa

The Eurographics Association  2018

Invisible Long Arm Illusion: Illusory Body Ownership by Synchronous Movement of Hands and Feet.

R Kondo, S Ueda, M Sugimoto, K Minamizawa, M Inami, M Kitazaki

ICAT-EGVE, 21-28  2018

Signal processing apparatus, signal processing method, and computer program

H Kim, M Yoshino, M Inami, K Minamizawa, Y Sugiura, S Kasahara

US Patent App. 15/761,647  2018

Vibration generation system, storage medium having stored therein vibration generation program, and vibration generation method

K Obana, K Kawai, J Miyatake, S Masubuchi, T Aoki, K Yamashita, ...

US Patent 10,062,247  2018

Vibration generation system, storage medium having stored therein vibration generation program, and vibration generation method

K Obana, K Kawai, J Miyatake, S Masubuchi, T Aoki, K Yamashita, ...

US Patent 10,062,247  2018

Signal processing apparatus, signal processing method, and computer program

H Kim, M Yoshino, M Inami, K Minamizawa, Y Sugiura, Y Mizushina, ...

US Patent App. 15/761,626  2018

Signal processing apparatus, signal processing method, and computer program

H Kim, M Yoshino, M Inami, K Minamizawa, Y Sugiura, Y Mizushina, ...

US Patent App. 15/761,626  2018

Signal processing apparatus, signal processing method, and computer program

H Kim, M Yoshino, M Inami, K Minamizawa, Y Sugiura, S Kasahara

US Patent App. 15/761,647  2018

Flow zone: Inducing flow to improve subjective wellbeing by creating a cross-modal music creation experience in virtual reality

T Person, K Minamizawa

SIGGRAPH Asia  2018

Flow zone: Inducing flow to improve subjective wellbeing by creating a cross-modal music creation experience in virtual reality

T Person, K Minamizawa

SIGGRAPH Asia  2018

atmoSphere: designing cross-modal music experiences using spatial audio with haptic feedback

H Fushimi, D Kato, Y Kamiyama, K Yanagihara, K Minamizawa, K Kunze

ACM SIGGRAPH 2017 Emerging Technologies, 4  2017

Altered touch: miniature haptic display with force, thermal and tactile feedback for augmented haptics

T Murakami, T Person, CL Fernando, K Minamizawa

ACM SIGGRAPH 2017 Emerging Technologies, 2  2017

AeroGlove: 3D Printed Airbag Design for Scalable Haptic Display

YL Feng, CL Fernando, J Rod, K Minamizawa

ロボティクス・メカトロニクス講演会講演概要集 2017, 2P1-N02  2017

A thermally enhanced weather checking system in VR

Z Chen, RL Peiris, K Minamizawa

Adjunct Publication of the 30th Annual ACM Symposium on User Interface …  2017

A thermal pattern design for providing dynamic thermal feedback on the face with head mounted displays

Z Chen, RL Peiris, K Minamizawa

Proceedings of the Eleventh International Conference on Tangible, Embedded …  2017

atmoSphere: mindfulness over haptic-audio cross modal correspondence

B Tag, R Mannschreck, T Goto, H Fushimi, K Minamizawa, K Kunze

2017 ACM International Joint Conference on Pervasive and Ubiquitous …  2017

Thermovr: Exploring integrated thermal haptic feedback with head mounted displays

RL Peiris, W Peng, Z Chen, L Chan, K Minamizawa

Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems …  2017

ThermoReality: Thermally enriched head mounted displays for virtual reality

Z Chen, W Peng, R Peiris, K Minamizawa

44th International Conference on Computer Graphics and Interactive …  2017

Thermoreality: thermally enriched head mounted displays

Z Chen, W Peng, R Peiris, L Chan, K Minamizawa

SIGGRAPH Asia 2017 Emerging Technologies, 16  2017

TECHTILE bits: Designing a tool for children to create haptic devices

M Shibasaki, K Tuchiya, K Minamizawa

Proceedings of the Virtual Reality International Conference-Laval Virtual …  2017

Superhuman sports: applying human augmentation to physical exercise

K Kunze, K Minamizawa, S Lukosch, M Inami, J Rekimoto

IEEE Pervasive Computing 16 (2), 14-17  2017

Superhuman Sports Games in Laval Virtual

R Ando, M Orikasa, M Takeda, H Hayakawa, K Sato, I Uebayashi, ...

 2017

Submerged haptics: a 3-DOF fingertip haptic display using miniature 3D printed airbags

YL Feng, CL Fernando, J Rod, K Minamizawa

ACM SIGGRAPH 2017 Emerging Technologies, 22  2017

Study on Telexistence LXXXVIII Foveated Streaming: Optimizing video streaming for Telexistence systems using eye-gaze based foveation”

MHDY Saraiji, K Minamizawa, S Tachi

 2017

MetaLimbs: multiple arms interaction metamorphism

T Sasaki, MHD Saraiji, CL Fernando, K Minamizawa, M Inami

ACM SIGGRAPH 2017 Emerging Technologies, 16  2017

MeLight: Embodied Appreciation of Inouzu

M Shibasaki, K Iwazaki, M Takeda, Y Kamiyama, K Obata, K Yoshino, ...

Proceedings of the Virtual Reality International Conference-Laval Virtual …  2017

HapticAid: haptic experiences system using mobile platform

T Maeda, K Tsuchiya, R Peiris, Y Tanaka, K Minamizawa

Proceedings of the Eleventh International Conference on Tangible, Embedded …  2017

HaptI/O: Physical Node for the Internet of Haptics

S Matsuzono, H Nakamura, D Kato, R Peiris, K Minamizawa

Adjunct Publication of the 30th Annual ACM Symposium on User Interface …  2017

FrontFace: facilitating communication between HMD users and outsiders using front-facing-screen HMDs

L Chan, K Minamizawa

Proceedings of the 19th International Conference on Human-Computer …  2017

Exploring of simulating passing through feeling on the wrist: Using thermal feedback

W Peng, RL Peiris, K Minamizawa

Adjunct Publication of the 30th Annual ACM Symposium on User Interface …  2017

Exploration of cuing methods for localization of spatial cues using thermal haptic feedback on the forehead

RL Peiris, W Peng, Z Chen, K Minamizawa

2017 IEEE World Haptics Conference (WHC), 400-405  2017

Development of wheelchair dance game using wheel rotation speed as input

M Takeda, S Mochizuki, K Minamizawa

Proceedings of the Virtual Reality International Conference-Laval Virtual …  2017

Design of sports creation workshop for superhuman sports

M Orikasa, H Inukai, K Eto, K Minamizawa, M Inami

Proceedings of the Virtual Reality International Conference-Laval Virtual …  2017

Control device, control method, and program

H Kim, S Kasahara, M Inami, K Minamizawa, Y Sugiura, Y Mizushina

US Patent App. 15/510,557  2017

Towards intermanual apparent motion of thermal pulses

D Gongora, RL Peiris, K Minamizawa

Adjunct Publication of the 30th Annual ACM Symposium on User Interface …  2017

振動呈示デバイスを用いたサウンドアート鑑賞 「Touch the sound picnic」

金箱淳一， 南澤孝太

研究報告アクセシビリティ (AAC) 2017 (9), 1-5  2017

布地の粗さ・なめらかさ評価に適応した画像および振動による呈示方法の検討 (メディア工学)--(学生研究発表会)

佐藤有紗， 石川智治， 花光宣尚， 南澤孝太， 山本裕紹， 佐々木和也， ...

映像情報メディア学会技術報告= ITE technical report 41 (4), 47-50  2017

ランニングテンポ伝達による盲人マラソンの伴走体験の支援

平野智久， 金箱淳一， 南澤孝太

研究報告アクセシビリティ (AAC) 2017 (14), 1-5  2017

Walk-In Music: Walking experience with synchronized music and its effect of pseudo-gravity

H Murata, Y Bouzarte, J Kanebako, K Minamizawa

Adjunct Publication of the 30th Annual ACM Symposium on User Interface …  2017

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K Obana, K Kawai, J Miyatake, M Inami, K Minamizawa

US Patent 9,833,702  2017

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K Obana, K Kawai, J Miyatake, M Inami, K Minamizawa

US Patent 9,833,702  2017

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K Obana, K Kawai, J Miyatake, M Inami, K Minamizawa

US Patent 9,833,702  2017

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K Obana, K Kawai, J Miyatake, M Inami, K Minamizawa

US Patent 9,833,702  2017

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K Obana, K Kawai, J Miyatake, M Inami, K Minamizawa

US Patent 9,833,702  2017

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K Obana, K Kawai, J Miyatake, M Inami, K Minamizawa

US Patent 9,833,702  2017

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K Obana, K Kawai, J Miyatake, M Inami, K Minamizawa

US Patent 9,833,702  2017

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K Obana, K Kawai, J Miyatake, M Inami, K Minamizawa

US Patent 9,833,702  2017

Apparatus, information processing program, system, and method for controlling vibrations to be imparted to a user of an apparatus

K Obana, K Kawai, J Miyatake, S Keisuke, S Masubuchi, T Aoki, ...

US Patent 9,753,537  2017

Apparatus, information processing program, system, and method for controlling vibrations to be imparted to a user of an apparatus

K Obana, K Kawai, J Miyatake, S Keisuke, S Masubuchi, T Aoki, ...

US Patent 9,753,537  2017

Apparatus, information processing program, system, and method for controlling vibrations to be imparted to a user of an apparatus

K Obana, K Kawai, J Miyatake, S Keisuke, S Masubuchi, T Aoki, ...

US Patent 9,753,537  2017

Apparatus, information processing program, system, and method for controlling vibrations to be imparted to a user of an apparatus

K Obana, K Kawai, J Miyatake, S Keisuke, S Masubuchi, T Aoki, ...

US Patent 9,753,537  2017

Apparatus, information processing program, system, and method for controlling vibrations to be imparted to a user of an apparatus

K Obana, K Kawai, J Miyatake, S Keisuke, S Masubuchi, T Aoki, ...

US Patent 9,753,537  2017

Apparatus, information processing program, system, and method for controlling vibrations to be imparted to a user of an apparatus

K Obana, K Kawai, J Miyatake, S Keisuke, S Masubuchi, T Aoki, ...

US Patent 9,753,537  2017

Apparatus, information processing program, system, and method for controlling vibrations to be imparted to a user of an apparatus

K Obana, K Kawai, J Miyatake, S Keisuke, S Masubuchi, T Aoki, ...

US Patent 9,753,537  2017

Apparatus, information processing program, system, and method for controlling vibrations to be imparted to a user of an apparatus

K Obana, K Kawai, J Miyatake, S Keisuke, S Masubuchi, T Aoki, ...

US Patent 9,753,537  2017

GOLD AWARD

ANMTM That, M Nakatani, K Sato, K Sato, Y Kawana, D Takai, ...

IEEE TRANSACTIONS ON HAPTICS 10 (1), 3  2017

MeLight: Embodied Appreciation of" Inouzu"

M Shibasaki, K Iwazaki, M Takeda, Y Kamiyama, K Obata, K Yoshino, ...

Proceedings of the Virtual Reality International Conference-Laval Virtual …  2017

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K Obana, K Kawai, J Miyatake, M Inami, K Minamizawa

US Patent 9,833,702  2017

Vibration generation system, storage medium having stored therein vibration generation program, and vibration generation method

K Obana, K Kawai, J Miyatake, S Masubuchi, T Aoki, K Yamashita, ...

US Patent App. 15/431,946  2017

Vibration generation system, storage medium having stored therein vibration generation program, and vibration generation method

K Obana, K Kawai, J Miyatake, S Masubuchi, T Aoki, K Yamashita, ...

US Patent 9,606,626  2017

Vibration generation system, storage medium having stored therein vibration generation program, and vibration generation method

K Obana, K Kawai, J Miyatake, S Masubuchi, T Aoki, K Yamashita, ...

US Patent 9,606,626  2017

Vibration generation system, storage medium having stored therein vibration generation program, and vibration generation method

K Obana, K Kawai, J Miyatake, S Masubuchi, T Aoki, K Yamashita, ...

US Patent 9,606,626  2017

Vibration generation system, storage medium having stored therein vibration generation program, and vibration generation method

K Obana, K Kawai, J Miyatake, S Masubuchi, T Aoki, K Yamashita, ...

US Patent App. 15/431,946  2017

Vibration generation system, storage medium having stored therein vibration generation program, and vibration generation method

K Obana, K Kawai, J Miyatake, S Masubuchi, T Aoki, K Yamashita, ...

US Patent 9,606,626  2017

Vibration generation system, storage medium having stored therein vibration generation program, and vibration generation method

K Obana, K Kawai, J Miyatake, S Masubuchi, T Aoki, K Yamashita, ...

US Patent 9,606,626  2017

Vibration generation system, storage medium having stored therein vibration generation program, and vibration generation method

K Obana, K Kawai, J Miyatake, S Masubuchi, T Aoki, K Yamashita, ...

US Patent 9,606,626  2017

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K Obana, K Kawai, J Miyatake, M Inami, K Minamizawa

US Patent 9,833,702  2017

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K Obana, K Kawai, J Miyatake, M Inami, K Minamizawa

US Patent 9,833,702  2017

Information processing apparatus, storage medium having stored therein information processing program, information processing system, and information processing method

K Obana, K Kawai, J Miyatake, M Inami, K Minamizawa

US Patent 9,833,702  2017

Haptic Design における Pseudo-haptics 技術の役割 および表現分野での事例紹介

渡邊淳司

システム/制御/情報 61 (11), 459-462  2017

FEEL IT: a thermally enhanced environmental perception system in VR Sub Title Author 陳, 紫コン (Chen, Zikun) 南澤, 孝太 (Minamizawa, Kota) Publisher 慶應義塾大学大学院メディアデザ …

陳紫コン

 2017

Exploring thermal perception on body extremities Sub Title Author 彭, 煒 (Peng, Wei) 南澤, 孝太 (Minamizawa, Kota) Publisher 慶應義塾大学大学院メディアデザイン研究科

彭煒

 2017

布地の粗さ・なめらかさ評価に適応した画像および振動による呈示方法の検討

佐藤有紗， 石川智治， 花光宣尚， 南澤孝太， 山本裕紹， 佐々木和也， ...

映像情報メディア学会技術報告 メディア工学, 47-50  2017

Haptic Design における Pseudo-haptics 技術の役割 および表現分野での事例紹介

渡邊淳司

システム/制御/情報 61 (11), 459-462  2017

FEEL IT: a thermally enhanced environmental perception system in VR Sub Title Author 陳, 紫コン (Chen, Zikun) 南澤, 孝太 (Minamizawa, Kota) Publisher 慶應義塾大学大学院メディアデザ …

陳紫コン

 2017

Exploring thermal perception on body extremities Sub Title Author 彭, 煒 (Peng, Wei) 南澤, 孝太 (Minamizawa, Kota) Publisher 慶應義塾大学大学院メディアデザイン研究科

彭煒

 2017

布地の粗さ・なめらかさ評価に適応した画像および振動による呈示方法の検討

佐藤有紗， 石川智治， 花光宣尚， 南澤孝太， 山本裕紹， 佐々木和也， ...

映像情報メディア学会技術報告 メディア工学, 47-50  2017

遠隔操作によるマルチクローラ型無人調査ロボットの開発

上條宏明， 南澤孝太， 小�蜑h次

日本地質学会学術大会講演要旨 第 123 年学術大会 (2016 東京・桜上水), 002  2016

AnyOrbit: Fluid 6DOF spatial navigation of virtual environments using orbital motion

BI Outram, YS Pai, K Fan, K Minamizawa, K Kunze

Proceedings of the 2016 Symposium on Spatial User Interaction, 199-199  2016

Changing body ownership using visual metamorphosis

T Sasaki, MHD Saraiji, K Minamizawa, M Kitazaki, M Inami

Proceedings of the 2016 Virtual Reality International Conference, 33  2016

Thermocons: Evaluating the thermal haptic perception of the forehead

RL Peiris, L Chan, K Minamizawa

Proceedings of the 29th Annual Symposium on User Interface Software and …  2016

TECHTILE workshop for creating haptic content

M Nakatani, Y Kakehi, K Minamizawa, S Mihara, S Tachi

Pervasive Haptics, 185-200  2016

Synesthesia suit: the full body immersive experience

Y Konishi, N Hanamitsu, B Outram, K Minamizawa, T Mizuguchi, A Sato

ACM SIGGRAPH 2016 VR Village, 20  2016

Study on Telexistence LXXXV Layered Presence: Expanding Visual Presence using Simultaneously Operated Telexistence Avatars

MHDY SARAIJI, CL FERNANDO, K MINAMIZAWA, S TACHI

 2016

Personalized record of the city wander with a wearable device: a pilot study

F Liang, M Nakatani, K Kunze, K Minamizawa

Proceedings of the 2016 ACM International Joint Conference on Pervasive and …  2016

Layered telepresence: simultaneous multi presence experience using eye gaze based perceptual awareness blending

MHD Saraiji, S Sugimoto, CL Fernando, K Minamizawa, S Tachi

ACM SIGGRAPH 2016 Emerging Technologies, 14  2016

HapticAid: wearable haptic augmentation system for enhanced, enchanted and empathised haptic experiences

T Maeda, R Peiris, N Masashi, Y Tanaka, K Minamizawa

SIGGRAPH ASIA 2016 Emerging Technologies, 4  2016

GazeSim: simulating foveated rendering using depth in eye gaze for VR

YS Pai, B Tag, B Outram, N Vontin, K Sugiura, K Kunze

ACM SIGGRAPH 2016 Posters, 75  2016

Frequency-specific masking effect by vibrotactile stimulation to the forearm

Y Tanaka, S Matsuoka, WMB Tiest, AML Kappers, K Minamizawa, A Sano

International Conference on Human Haptic Sensing and Touch Enabled Computer …  2016

Extra-normal interactions in mediated virtual environments: An investigation of an audio-visual crossed-sense modality

BI Outram, M Nakatani, K Minamizawa

2016 IEEE Virtual Reality (VR), 255-256  2016

Electric tactile sense presentation device

K Ozaki, S Muromoto, T Kimura, S Tachi, K Minamizawa, K Sato

US Patent 9,483,923  2016

Dramagic: 机上遊びを拡張するサウンドアニメーションのデザイン

山本澪， 花光宣尚， 金稀淳， 南澤孝太， 稲見昌彦

日本バーチャルリアリティ学会論文誌 21 (3), 473-482  2016

Dramagic: a sound animation table to enhance imagination

M Yamamoto, N Hanamitsu, H Kim, K Minamizawa, M Inami

Proceedings of the 2016 Virtual Reality International Conference, 11  2016

Designing a haptic feedback system for hearing-impaired to experience tap dance

M Shibasaki, Y Kamiyama, K Minamizawa

Proceedings of the 29th Annual Symposium on User Interface Software and …  2016

VR planet: interface for meta-view and feet interaction of VR contents

K Fan, L Chan, D Kato, K Minamizawa, M Inami

ACM SIGGRAPH 2016 VR Village, 24  2016

伝統的画材の触感フィードバックを提示するペイントシステムの構築 (ヒューマン情報処理)

田中博和， 仲谷正史， 南澤孝太

電子情報通信学会技術研究報告= IEICE technical report: 信学技報 115 (512), 39-44  2016

テレイグジスタンスの研究 (第 87 報)—空中における身体拡張感のための飛行型テレイグジスタンスシステムの提案—

H HAYAKAWA, Y MHD, CL FERNANDO, K MINAMIZAWA, S TACHI

 2016

からだタップ: からだで感じるタップダンス

柴�ア美奈， 神山洋一， 南澤孝太

日本バーチャルリアリティ学会論文誌 21 (3), 537-540  2016

Wearable haptic augmentation system using skin vibration sensor

T Maeda, R Peiris, M Nakatani, Y Tanaka, K Minamizawa

Proceedings of the 2016 Virtual Reality International Conference, 25  2016

Synesthesia Suit: VR 体験を拡張する全身触感スーツ

小西由香理， 南澤孝太

慶應義塾大学大学院メディアデザイン研究科  2016

ASMR に基づく身体に影響を及ぼす音楽作品の制作

宮崎葉月， 南澤孝太

修士論文  2016

特別講演 若手パネルディスカッション 20 年後の VR (特集 第 21 回 (20 周年記念) 大会報告)

落合陽一， ��橋誠史， 鳴海拓志， 南澤孝太， 安藤英由樹

日本バーチャルリアリティ学会誌= Journal of the Virtual Reality Society of Japan …  2016

Haptic feedback of traditional painting for digital painting

H Tanaka, M Nakatani, K Minamizawa

IEICE Technical Report; IEICE Tech. Rep. 115 (512), 39-44  2016

触楽入門 朝日出版社

仲谷正史， 筧康明， 三原総一郎， 南澤孝太

 2016

複数の独立動作する腕による拡張身体部位の研究

佐々木智也

特定非営利活動法人 日本バーチャルリアリティ学会  2016

伝統的画材の触感フィードバックを提示するペイントシステムの構築

田中博和， 仲谷正史， 南澤孝太

電子情報通信学会技術研究報告; 信学技報 115 (512), 39-44  2016

Haptic feedback of traditional painting for digital painting

H Tanaka, M Nakatani, K Minamizawa

IEICE Technical Report; IEICE Tech. Rep. 115 (512), 39-44  2016

複数の独立動作する腕による拡張身体部位の研究

佐々木智也

特定非営利活動法人 日本バーチャルリアリティ学会  2016

触楽入門 朝日出版社

仲谷正史， 筧康明， 三原総一郎， 南澤孝太

 2016

伝統的画材の触感フィードバックを提示するペイントシステムの構築

田中博和， 仲谷正史， 南澤孝太

電子情報通信学会技術研究報告; 信学技報 115 (512), 39-44  2016

触楽入門

仲谷正史， 筧康明， 三原聡一郎， 南澤孝太

朝日出版社, 東京  2016

視覚障害者向けスポーツを対象とした遊びのデザイン及び用具制作のためのアプローチ

武田港， 中村隆之， 南澤孝太， 稲見昌彦

エンタテインメントコンピューティングシンポジウム 2015 論文集 2015, 580-585  2015

A (touch) ment: a smartphone extension for instantly sharing visual and tactile experience

H Nakamura, N Hanamitsu, K Minamizawa

Proceedings of the 6th Augmented Human International Conference, 223-224  2015

2P1-D08 Study on Telexistence LXXXI: Effectiveness of Spatial Coherent Remote Driving Experience with a Telexistence Backhoe Under Hazardous Conditions

CL FERNANDO, YS MHD, Y SEISHU, N KURIO, K MINAMIZAWA, ...

The Proceedings of JSME annual Conference on Robotics and Mechatronics …  2015

2A2-W08 圧覚提示と電気触覚刺激の組み合わせによる装着型触覚ディスプレイの試作

杉山智紀， 水品友佑， 佐藤克成， 南澤孝太

ロボティクス・メカトロニクス講演会講演概要集 2015, _2A2-W08_1-_2A2-W08_2  2015

2A2-W06 触感検索のための物体表面の物理的パターンの推定手法の検討

花光宣尚， 南澤孝太

ロボティクス・メカトロニクス講演会講演概要集 2015, _2A2-W06_1-_2A2-W06_2  2015

2A2-V09 描き心地に関わる振動覚の検証と再現の検討

田中博和， 花光宣尚， 南澤孝太

ロボティクス・メカトロニクス講演会講演概要集 2015, _2A2-V09_1-_2A2-V09_2  2015

2A2-F10 テレイグジスタンスの研究 (第 82 報): 没入型空中スポーツ体験のための飛行型テレイグジスタンスシステムの設計

早川裕彦， 南澤孝太

ロボティクス・メカトロニクス講演会講演概要集 2015, _2A2-F10_1-_2A2-F10_4  2015

1A1-L09 カード型インタフェースを用いた非接触給電駆動式ロボットの制御

杉浦裕太， 坂本菜月， 神山洋一， 南澤孝太， 牧野泰才， 稲見昌彦

ロボティクス・メカトロニクス講演会講演概要集 2015, _1A1-L09_1-_1A1-L09_2  2015

1A1-L06 Study on Telexistence LXXXIV: Mutual Communication for Telexistence Robots using Virtual Hands Projection

Y MHD, CL FERNANDO, K MINAMIZAWA, S TACHI

The Proceedings of JSME annual Conference on Robotics and Mechatronics …  2015

Designing haptic media technologies for embodied creation

K Minamizawa

SIGGRAPH Asia 2015 Haptic Media And Contents Design, 1  2015

Telexistence drone: design of a flight telexistence system for immersive aerial sports experience

H Hayakawa, CL Fernando, MHD Saraiji, K Minamizawa, S Tachi

Proceedings of the 6th Augmented Human International Conference, 171-172  2015

SMASH: synchronization media of athletes and spectator through haptic

MS Iekura, H Hayakawa, K Onoda, Y Kamiyama, K Minamizawa, M Inami

SIGGRAPH Asia 2015 Mobile Graphics and Interactive Applications, 20  2015

RippleTouch: initial exploration of a wave resonant based full body haptic interface

A Withana, S Koyama, D Saakes, K Minamizawa, M Inami, ...

Proceedings of the 6th Augmented Human International Conference, 61-68  2015

PukuPuCam: a recording system from third-person view in scuba diving

M Hirose, Y Sugiura, K Minamizawa, M Inami

Proceedings of the 6th Augmented Human International Conference, 161-162  2015

Mutual hand representation for telexistence robots using projected virtual hands

MHD Saraiji, CL Fernando, K Minamizawa, S Tachi

Proceedings of the 6th Augmented Human International Conference, 221-222  2015

KineticCanvas: Synergetic effort between art and technology

RL Peiris, S Nanayakkara, V Wijesinghe, K Minamizawa

Proceedings of the Annual Meeting of the Australian Special Interest Group …  2015

Interactive instant replay: sharing sports experience using 360-degrees spherical images and haptic sensation based on the coupled body motion

Y Mizushina, W Fujiwara, T Sudou, CL Fernando, K Minamizawa, S Tachi

Proceedings of the 6th Augmented Human International Conference, 227-228  2015

HaptoMIRAGE: An active-shuttered real image auto-stereoscopic display

Y Ueda, H Nii, K Minamizawa, S Tachi

22nd International Display Workshops, IDW 2015, 1137-1140  2015

Effectiveness of Spatial Coherent Remote Drive Experience with a Telexistence Backhoe for Construction Sites.

CL Fernando, MHDY Saraiji, Y Seishu, N Kuriu, K Minamizawa, S Tachi

ICAT-EGVE, 69-75  2015

Development of Mutual Telexistence System using Virtual Projection of Operator's Egocentric Body Images.

MHDY Saraiji, CL Fernando, K Minamizawa, S Tachi

ICAT-EGVE, 125-132  2015

Towards performance feedback through tactile displays to improve learning archery

H Gu, K Kunze, M Takatani, K Minamizawa

Adjunct Proceedings of the 2015 ACM International Joint Conference on …  2015

東京国立博物館・特集展示 「伊能忠敬の日本図」 とミュージアムシアターを活用したサービスデザインプラクティス (< 特集> デジタルミュージアムの展開)

徳久悟， 吉野弘一， 小幡光一， 遠藤志津子， 岩崎花梨， 武田港， 柴崎美奈， ...

日本バーチャルリアリティ学会論文誌 20 (1), 3-14  2015

VR シアターにおけるパーソナルな鑑賞体験を支援する多人数ポインティング (< 特集> 教育・訓練・支援)

柴崎美奈， 張衍義， 武田港， 小幡光一， 吉野弘一， 遠藤志津子， 徳久悟， ...

日本バーチャルリアリティ学会論文誌 20 (4), 333-344  2015

Twech: a mobile platform to search and share visuo-tactile experiences

N Hanamitsu, H Nakamura, M Nakatani, K Minamizawa

SIGGRAPH Asia 2015 Mobile Graphics and Interactive Applications, 10  2015

Transparent cockpit using telexistence

T Yanagi, CL Fernando, MHDY Saraiji, K Minamizawa, S Tachi, N Kishi

2015 IEEE Virtual Reality (VR), 311-312  2015

Information processing system, information processing apparatus, storage medium having stored therein information processing program, and information processing method

K Obana, T Aoki, K Kawai, J Miyatake, K Yamashita, S Masubuchi, ...

US Patent App. 14/686,094  2015

Information processing system, information processing apparatus, storage medium having stored therein information processing program, and information processing method

K Obana, T Aoki, K Kawai, J Miyatake, K Yamashita, S Masubuchi, ...

US Patent App. 14/686,094  2015

1A1-L06 テレグジスタンスの研究 (第 84 報): ヴァーチャル・ハンズの投影を用いたテレグジスタンス・ロボットのための相互伝送

フェルナンド,チャリス， 南澤

ロボティクス・メカトロニクス講演会講演概要集 2015, _1A1-L06_1-_1A1-L06_3  2015

1A1-L06 テレグジスタンスの研究 (第 84 報): ヴァーチャル・ハンズの投影を用いたテレグジスタンス・ロボットのための相互伝送

フェルナンド,チャリス， 南澤

ロボティクス・メカトロニクス講演会講演概要集 2015, _1A1-L06_1-_1A1-L06_3  2015

Video Based Therapy Method for Acrophobia Self-Treatment. Sub Title Author Wojcikowska, Marta (Minamizawa, Kota) 南澤, 孝太 Publisher 慶應義塾大学大学院メディアデザイン研究科

M Wojcikowska

 2015

Video Based Therapy Method for Acrophobia Self-Treatment. Sub Title Author Wojcikowska, Marta (Minamizawa, Kota) 南澤, 孝太 Publisher 慶應義塾大学大学院メディアデザイン研究科

M Wojcikowska

 2015

触感表現の一般普及に向けた方法論とテクタイルワークショップを通したその実践 (< 特集> ハプティックコンテンツ)

仲谷正史， 筧康明， 南澤孝太， 三原聡一郎

日本バーチャルリアリティ学会論文誌 19 (4), 593-603  2014

An object space approach to shadowing for hair-shaped objects

Y Ikeda, I Fujishiro, T Matsuoka

ACM SIGGRAPH 2014 Posters, 90  2014

2A2-M05 Study on Telexistence LXXVII: Haptic transfer system using virtual body in real world (Virtual/Augmented Reality and Interfaces)

YMHD SARAIJI, CL FERNANDO, M FURUKAWA, K MINAMIZAWA, ...

The Proceedings of JSME annual Conference on Robotics and Mechatronics …  2014

2A2-M04 テレイグジスタンスの研究 (第 76 報): 巨人化体験のための視覚伝送系の設計と実時間映像伝送系の実装 (VR・AR とインタフェース)

古川正紘， 南澤孝太

ロボティクス・メカトロニクス講演会講演概要集 2014, _2A2-M04_1-_2A2-M04_4  2014

Dokodemo Door: A Doorway to Alternate Realities

杉浦裕太， 神山洋一， 南澤孝太， 稲見昌彦

エンタテインメントコンピューティングシンポジウム 2014 論文集 2014, 266-269  2014

HaptoMIRAGE: mid-air autostereoscopic display for seamless interaction with mixed reality environments

Y Ueda, K Iwazaki, M Shibasaki, Y Mizushina, M Furukawa, H Nii, ...

ACM SIGGRAPH 2014 Emerging Technologies, 10  2014

Haptic broadcasting

Y Mizushina, CL Fernando, K Minamizawa, S Tachi

9th International Conference on Haptics: Neuroscience, Devices, Modeling …  2014

Enforced telexistence: teleoperating using photorealistic virtual body and haptic feedback

MHDY Saraiji, CL Fernando, Y Mizushina, Y Kamiyama, K Minamizawa, ...

SIGGRAPH Asia 2014 Emerging Technologies, 7  2014

Enforced telexistence

MHD Saraiji, Y Mizushina, CL Fernando, M Furukawa, Y Kamiyama, ...

ACM SIGGRAPH 2014 Posters, 49  2014

Dokodemo Door: A Doorway to Alternate Realities

K Fan, 杉浦裕太, 神山洋一, 南澤考太, 稲見昌彦

エンタテインメントコンピューティング 2014, 266-269  2014

Ubiquitous substitutional reality: re-experiencing the past in immersion.

K Fan, Y Sugiura, K Minamizawa, S Wakisaka, M Inami, N Fujii

SIGGRAPH Posters, 55:1  2014

同一視点からの空間共有のための裸眼 3D 映像のリアルタイム双方向通信

内田早紀， 上間裕二， 南澤孝太， 舘�ワ

研究報告エンタテインメントコンピューティング (EC) 2014 (65), 1-6  2014

ブクブカメラ: ダイビングにおける三人称視点からの遊泳記録手法

廣瀬雅治， 杉浦裕太， 南澤孝太， 稲見昌彦

エンタテインメントコンピューティングシンポジウム 2014 論文集 2014, 142-145  2014

Voluntary self-tapping induces self-localization shift

M Furukawa, K Minamizawa, S Tachi

The 23rd IEEE International Symposium on Robot and Human Interactive …  2014

2A2-M05 テレイグジスタンスの研究 (第 77 報): 実環境内でのバーチャルな身体を用いた触覚伝送 (VR・AR とインタフェース)

サライジムハマド,ヤメン， フェルナンド,チャリス， 古川， 正紘， 南澤

ロボティクス・メカトロニクス講演会講演概要集 2014, _2A2-M05_1-_2A2-M05_3  2014

フェルナンド チャリス, 南澤孝太, 舘�ワ,”

水品友佑

Interactive Instant Replay: 身体運動にカップリングされた映像と触覚提示によるスポーツ …  2014

Virtual embodied telexistence: telecommunication using sensory feedback and virtual body representation Sub Title Author Saraiji, Mhd Yamen (Minamizawa, Kota) 南澤, 孝太

MY Saraiji

 2014

2A2-M05 テレイグジスタンスの研究 (第 77 報): 実環境内でのバーチャルな身体を用いた触覚伝送 (VR・AR とインタフェース)

サライジムハマド,ヤメン， フェルナンド,チャリス， 古川， 正紘， 南澤

ロボティクス・メカトロニクス講演会講演概要集 2014, _2A2-M05_1-_2A2-M05_3  2014

Virtual embodied telexistence: telecommunication using sensory feedback and virtual body representation Sub Title Author Saraiji, Mhd Yamen (Minamizawa, Kota) 南澤, 孝太

MY Saraiji

 2014

フェルナンド チャリス, 南澤孝太, 舘�ワ,”

水品友佑

Interactive Instant Replay: 身体運動にカップリングされた映像と触覚提示によるスポーツ …  2014

触感コンテンツの創作・共有を目的としたオンラインプラットフォームの構築 (< 特集> アート & エンタテインメント 3)

竹内祐太， 片倉弘貴， 南澤孝太

日本バーチャルリアリティ学会論文誌 18 (3), 383-392  2013

2P1-Q13 テレイグジスタンスの研究 (第 73 報): ミニチュア・ドールハウスの世界を体験するための視覚伝送系設計 (アミューズメント・エンタティナーロボット)

新井瑛子， 古川正紘， 南澤孝太

ロボティクス・メカトロニクス講演会講演概要集 2013, _2P1-Q13_1-_2P1-Q13_2  2013

2A1-B01 音響解析に基づく固体触感成分の解析と振動触感の生成 (触覚と力覚 (1))

花光宣尚， 南澤孝太

ロボティクス・メカトロニクス講演会講演概要集 2013, _2A1-B01_1-_2A1-B01_3  2013

2A1-A13 フレキシブル基板を用いた指先装着型電気触覚ディスプレイ (触覚と力覚 (1))

佐藤克成， 南澤孝太， 梶本裕之， 木村泰介， 室本進吾， 尾崎和行， ...

ロボティクス・メカトロニクス講演会講演概要集 2013, _2A1-A13_1-_2A1-A13_4  2013

1P1-P14 立体視機能と体幹 6 自由度を有するテレイグジスタンス救助ロボットの評価 (サーチ & レスキューロボット・メカトロニクス)

渡邊孝一， 江川諒， 萬羽俊太郎， 菅原亮， 古川正紘， 南澤孝太， 舘暉

ロボティクス・メカトロニクス講演会講演概要集 2013, _1P1-P14_1-_1P1-P14_4  2013

1A1-E07 実物体の触感をコピー可能なミニチュア型触覚ディスプレイ (ハプティックインタフェース (1))

上田雄太， 南澤孝太， 中山雅野

ロボティクス・メカトロニクス講演会講演概要集 2013, _1A1-E07_1-_1A1-E07_2  2013

Experiencing ones own hand in telexistence manipulation with a 15 DOF anthropomorphic robot hand and a flexible master glove

CL Fernando, M Furukawa, K Minamizawa, S Tachi

2013 23rd International Conference on Artificial Reality and Telexistence …  2013

TECHTILE toolkit を用いた位置情報を伴う振動触覚の記録再生の検討 (力触覚の計算, 手, 一般)

上田雄太， 南澤孝太

電子情報通信学会技術研究報告. HIP, ヒューマン情報処理 112 (483), 85-86  2013

TECHTILE toolkit を利用した視覚障碍者のためのインタラクティブシステムの開発 (第 2 報) 視覚障碍者による評価 (マルチメディア・ 仮想環境基礎)

伊藤孝浩， 家室証， 南澤孝太， 大倉典子

電子情報通信学会技術研究報告: 信学技報 112 (474), 281-284  2013

Reality jockey: lifting the barrier between alternate realities through audio and haptic feedback

K Fan, H Izumi, Y Sugiura, K Minamizawa, S Wakisaka, M Inami, N Fujii, ...

Proceedings of the SIGCHI Conference on Human Factors in Computing Systems …  2013

Real-time egocentric superimposition of operator's own body on telexistence avatar in virtual environment

MHDY Saraiji, CL Fernando, M Furukawa, K Minarnizawa, S Tachi

2013 23rd International Conference on Artificial Reality and Telexistence …  2013

PukaPuCam: Enhance travel logging experience through third-person view camera attached to balloons

T Yamamoto, Y Sugiura, S Low, K Toda, K Minamizawa, M Sugimoto, ...

International Conference on Advances in Computer Entertainment Technology …  2013

HaptoMIRAGE-A multi-user autostereoscopic visio-haptic display

Y Ueda, N Hanamitsu, Y Mizushina, M Shibasaki, K Minamizawa, H Nii, ...

ACM Special Interest Group on Computer Graphics and Interactive Techniques …  2013

Haptic transmission system to recognize differences in surface textures of objects for telexistence

T Kurogi, M Nakayama, K Sato, S Kamuro, CL Fernando, M Furukawa, ...

2013 IEEE Virtual Reality (VR), 137-138  2013

Haptic media construction and utilization of human-harmonized “tangible” information environment

S Tachi, K Mlnamlzawa, M Furukawa, CL Fernando

2013 23rd International Conference on Artificial Reality and Telexistence …  2013

Haptic Layer Design and Integration for Virtual Telesar

MY Saraiji, CL Fernando, M Furukawa, K Minamizawa, S Tachi

On Robotics and Mechatronics (Robomec 2013)  2013

プカプカメラ: 浮遊カメラを用いた三人称視点による旅の記録体験の拡張 (< 特集> アート & エンタテインメント 3)

山本翼， 杉浦裕太， 南澤孝太， 杉本麻樹， 稲見昌彦

日本バーチャルリアリティ学会論文誌 18 (3), 371-381  2013

多人数ポインティングを用いたミュージアムシアターでの観客鑑賞パターン分析

張衍義， 柴崎美奈， 武田港， 小幡光一， 吉野弘一， 南澤孝太， 徳久悟， ...

エンタテインメントコンピューティングシンポジウム 2013 論文集 2013, 14-19  2013

HaptoMIRAGE: A multi-user autostereoscopic visio-haptic display

Y Ueda, N Hanamitsu, Y Mizushina, M Shibasaki, K Minamizawa, H Nii, ...

ACM SIGGRAPH 2013 Posters, 1-1  2013

A prototype system for record and playback vibro-tactile sensation with spacial information using TECHTILE toolkit

Y Ueda, K Minamizawa, S Tachi

IEICE Technical Report; IEICE Tech. Rep. 112 (483), 85-86  2013

Development of an interactive system for visually impaired using TECHTILE toolkit (The Second Report)--Evaluation by Visually Impaired

T Ito, S Kamuro, K Minamizawa, M Ohkura

IEICE Technical Report; IEICE Tech. Rep. 112 (475), 281-284  2013

A prototype system for record and playback vibro-tactile sensation with spacial information using TECHTILE toolkit

Y Ueda, K Minamizawa, S Tachi

IEICE Technical Report; IEICE Tech. Rep. 112 (483), 85-86  2013

Development of an interactive system for visually impaired using TECHTILE toolkit (The Second Report)--Evaluation by Visually Impaired

T Ito, S Kamuro, K Minamizawa, M Ohkura

IEICE Technical Report; IEICE Tech. Rep. 112 (475), 281-284  2013

AR 技術を用いた CAD システム: RhinoAR の評価

黒木帝聡， 南澤孝太， 高橋英行

日本バーチャルリアリティ学会大会論文集 17, 270-273  2012

ACM SIGGRAPH 2012 Emerging Technologies

K Minamizawa, Y Kakehi, M Nakatani, S Mihara, S Tachi

Article  2012

2P1-N02 RhinoAR: AR 技術を用いたモックアップ作製支援システムの開発 (VR とインタフェース)

黒木帝聡， 高橋英行， 南澤孝太， 杉本麻樹， 舘すすむ

ロボティクス・メカトロニクス講演会講演概要集 2012, _2P1-N02_1-_2P1-N02_4  2012

2A2-P02 テレイグジスタンスの研究 (第 69 報): 複数のスレーブロボットを用いた広域分散型テレイグジスタンスの基礎的検討 (ネットワークロボティクス)

廣多馨， 古川正紘， 南澤孝太

ロボティクス・メカトロニクス講演会講演概要集 2012, _2A2-P02_1-_2A2-P02_2  2012

1A1-J01 Study of Telexistence LXVIII: Reaching a remote object with 6DOF point of view and arm endpoint accuracy (Robot Hand Mechanism and Grasping Strategy (1))

CL FERNANDO, M FURUKAWA, T KUROGI, S KAMURO, K SATO, ...

The Proceedings of JSME annual Conference on Robotics and Mechatronics …  2012

1A1-A01 触圧と振動を音声信号として取得する触覚スキャナの開発 (触覚と力覚 (1))

竹内祐太， 家室証， 南澤孝太

ロボティクス・メカトロニクス講演会講演概要集 2012, _1A1-A01_1-_1A1-A01_3  2012

Design of TELESAR V for transferring bodily consciousness in telexistence

CL Fernando, M Furukawa, T Kurogi, S Kamuro, K Minamizawa, S Tachi

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems …  2012

Telexistence—from 1980 to 2012

S Tachi, K Minamizawa, M Furukawa, CL Fernando

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems …  2012

TELESAR V: TELExistence surrogate anthropomorphic robot

CL Fernando, M Furukawa, T Kurogi, K Hirota, S Kamuro, K Sato, ...

ACM SIGGRAPH 2012 Emerging Technologies, 23  2012

TECHTILE toolkit: a prototyping tool for designing haptic media

K Minamizawa, Y Kakehi, M Nakatani, S Mihara, S Tachi

ACM Special Interest Group on Computer Graphics and Interactive Techniques …  2012

TECHTILE toolkit: a prototyping tool for design and education of haptic media

K Minamizawa, Y Kakehi, M Nakatani, S Mihara, S Tachi

Proceedings of the 2012 Virtual Reality International Conference, 26  2012

TECHTILE toolkit を利用した視覚障碍者のためのインタラクティブシステムの開発 (福祉情報工学)

伊藤孝浩， 高橋信道， 家室証， 南澤孝太， 大倉典子

電子情報通信学会技術研究報告: 信学技報 112 (336), 47-50  2012

TECHTILE toolkit

K Minamizawa, Y Kakehi, M Nakatani, S Mihara, S Tachi

IEEE Haptics Symposium  2012

RePro3D: Full-parallax 3D display for superimposing 3D images onto the real world using retro-reflective projection technology

T Yoshida, S Kamuro, K Minamizawa, H Nii, S Tachi

Kyokai Joho Imeji Zasshi/Journal of the Institute of Image Information and …  2012

Optical camouflage III: Auto-stereoscopic and multiple-view display system using retro-reflective projection technology

Y Uema, N Koizumi, SW Chang, K Minamizawa, M Sugimoto, M Inami

2012 IEEE Virtual Reality Workshops (VRW), 57-58  2012

Haptic editor

S Kamuro, Y Takeuchi, K Minamizawa, S Tachi

SIGGRAPH Asia 2012 Emerging Technologies, 14  2012

Haptic duplicator

Y Takeuchi, S Kamuro, K Minamizawa, S Tachi

Proceedings of the 2012 Virtual Reality International Conference, 30  2012

TouchCast: an on-line platform for creation and sharing of tactile content based on tactile copy & paste

Y Takeuchi, H Katakura, S Kamuro, K Minamizawa, S Tachi

Adjunct proceedings of the 25th annual ACM symposium on User interface …  2012

皮膚感覚刺激による把持・質量感の提示

南澤孝太

日本ロボット学会誌 30 (5), 491-493  2012

博物館における人と空間の関係性に着目したインタラクティブな鑑賞体験のデザイン

柴崎美奈

慶應義塾大学大学院メディアデザイン研究科  2012

再帰性投影技術を用いた実空間重畳型多視点立体ディスプレイ RePro3D の開発

吉田匠， 家室証， 南澤孝太， 新居英明， 舘すすむ

映像情報メディア学会誌 66 (4), J101-J107  2012

再帰性投影技術と全周囲裸眼 3D ディスプレイを用いて存在感と臨場感を実現する相互テレイグジスタンスシステム: ELESAR4 (< 特集> テレイグジスタンスのためのロボティクス・グラフィクス・インタフェース)

渡邊孝一， 竹下佳佑， 南澤孝太， 吉田匠， 佐藤克成

日本バーチャルリアリティ学会論文誌 17 (1), 11-21  2012

全周囲裸眼立体ディスプレイを用いたサイバースペースへのテレイグジスタンス (< 特集> サイバースペースと VR)

渡邊孝一， 南澤孝太， 新居英明

日本バーチャルリアリティ学会論文誌 17 (2), 91-100  2012

Virtual Telesar-designing and implementation of a modular based immersive virtual telexistence platform

MY Saraiji, CL Fernando, M Furukawa, K Minamizawa, S Tachi

2012 IEEE/SICE International Symposium on System Integration (SII), 595-598  2012

Development of an interactive system for visually impaired using TECHTILE toolkit

T Ito, N Takahashi, S Kamuro, K Minamizawa, M Ohkura

IEICE Technical Report; IEICE Tech. Rep. 112 (336), 47-50  2012

Development of an interactive system for visually impaired using TECHTILE toolkit

T Ito, N Takahashi, S Kamuro, K Minamizawa, M Ohkura

IEICE Technical Report; IEICE Tech. Rep. 112 (336), 47-50  2012

1P1-C06 空中で使用可能なペン型ハプティックディスプレイ: 単軸駆動型デバイスの実装と立体映像とのインタラクション (ハプティックインタフェース)

家室証， 南澤孝太

ロボティクス・メカトロニクス講演会講演概要集 2011, _1P1-C06_1-_1P1-C06_2  2011

An ungrounded pen-shaped kinesthetic display: Device construction and applications

S Kamuro, K Minamizawa, S Tachi

2011 IEEE World Haptics Conference, 557-562  2011

Adaptive parallax autostereoscopic LED display

K Minamizawa, S Tachi, K Shimizu, S Yoshida, M Inami, N Yamaguchi, ...

SIGGRAPH Asia 2011 Emerging Technologies, 24  2011

3D Haptic modeling system using ungrounded pen-shaped kinesthetic display

S Kamuro, K Minamizawa, S Tachi

2011 IEEE Virtual Reality Conference, 217-218  2011

Augmented food texture rendering system using chewing detection device

H TANAKA, N KOIZUMI, Y UEMA, K MINAMIZAWA, M INAMI

VRSJ the 16th Annual Coference, Pp694-697  2011

Sho Kamuro, Kouta Minamizawa, Hideaki Nii and Susumu Tachi: RePro3D: Fullparallax 3D Display with Haptic Feedback using Retro-reflective Projection Technology

T Yoshida, K Shimizu, T Kurogi

Proc. of IEEE International Symposium on Virtual Reality Innovations 2011, 49-54  2011

RePro3D: full-parallax 3D display with haptic feedback using retro-reflective projection technology

T Yoshida, K Shimizu, T Kurogi, S Kamuro, K Minamizawa, H Nii, S Tachi

2011 IEEE International Symposium on VR Innovation, 49-54  2011

Mutual telexistence surrogate system: Telesar4-telexistence in real environments using autostereoscopic immersive display

S Tachi, K Watanabe, K Takeshita, K Minamizawa, T Yoshida, K Sato

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems …  2011

HAPMAP: Haptic walking navigation system with support by the sense of handrail

Y Imamura, H Arakawa, S Kamuro, K Minamizawa, S Tachi

ACM SIGGRAPH 2011 Emerging Technologies, 6  2011

Basic Study of Scalable Autostereoscopic Display for Haptic Interaction in Mixed-Reality

T Kurogi, H Nii, K Yanagihara, K Minamizawa, S Tachi

 2011

Transmission of existence by retro reflective projection technology using handheld projector

K Takeshita, K Watanabe, T Yoshida, K Minamizawa, S Tachi

2011 IEEE International Symposium on VR Innovation, 71-74  2011

咀嚼検出デバイスを用いた食感拡張システムの提案

田中秀和

第 16 回バーチャルリアリティ学会論文集, 694-697  2011

再帰性投影技術による視覚情報提示とエンタテイメント性

上間裕二， 小泉直也， 曽憲威， 南澤孝太， 杉本麻樹， 稲見昌彦

研究報告エンタテインメントコンピューティング (EC) 2011 (6), 1-2  2011

ロボットハンド操作システムのための円筒型多点力ベクトル入力インタフェース (< 特集> ハプティクスと VR)

古明地秀治， 佐藤克成， 南澤孝太， 渡邊孝一， 新居英明

日本バーチャルリアリティ学会論文誌 16 (3), 415-425  2011

テレイグジスタンスの研究 (第 67 報)-力ベクトルと温度情報による触感伝送

佐藤克成， 南澤孝太， 古川正紘， 舘�ワ

Entertainment Computing (EC2011)  2011

テレイグジスタンスの研究 (第 66 報)-Telesar5 のための視聴覚伝送系の設計

古川正紘， 佐藤克成， 南澤孝太， 舘�ワ

Entertainment Computing (EC2011)  2011

テレイグジスタンスの研究 (第 65 報)-Telesar5: 触覚を伝えるテレイグジスタンスシステム

舘�ワ， 南澤孝太， 古川正紘， 佐藤克成

Entertainment Computing (EC2011)  2011

スケッチ入力によるモデリングのための非接地ペン型力覚ディスプレイ (< 特集> ハプティクスと VR)

家室証， 南澤孝太

日本バーチャルリアリティ学会論文誌 16 (3), 459-468  2011

Inheritance of controls within a hierarchy of data processing system resources

SAJ Holdsworth, NGS Young

US Patent 7,917,940  2011

咀嚼検出デバイスを用いた食感拡張システムの提案, 日本バーチャルリアリティ学会大会論文集

田中秀和， 小泉直也， 上間裕二， 南澤孝太， 稲見昌彦

 2011

咀嚼検出デバイスを用いた食感拡張システムの提案, 日本バーチャルリアリティ学会大会論文集

田中秀和， 小泉直也， 上間裕二， 南澤孝太， 稲見昌彦

 2011

咀嚼検出デバイスを用いた食感拡張システムの提案; 日本バーチャルリアリティ学会大会論文集

田中秀和， 小泉直也， 上間裕二， 南澤孝太， 稲見昌彦

 2011

Augmened food texture rendering system using chewing detection device

H TANAKA, N KOIZUMI, Y UEMA, K MINAMIZAWA, M INAMI

Proceedings of the Japan Virtual Reality Society Conference Proceedings  2011

身体運動を用いた装着型ハプティックディスプレイの研究

南澤孝太

東京大学  2010

1A1-F29 テレイグジスタンスの研究 (第 61 報): TELESAR3 システムの提案と構築

渡邊孝一， 竹下佳佑， 佐藤克成， 南澤孝太

ロボティクス・メカトロニクス講演会講演概要集 2010, _1A1-F29_1-_1A1-F29_2  2010

1A1-F28 テレイグジスタンスの研究 (第 62 報): TELESAR3 システムの遅延の評価

竹下佳佑， 渡邊孝一， 佐藤克成， 南澤孝太

ロボティクス・メカトロニクス講演会講演概要集 2010, _1A1-F28_1-_1A1-F28_4  2010

1A1-C14 空中で使用可能なペン型ハプティックディスプレイのインタフェースへの応用

家室証， 南澤孝太

ロボティクス・メカトロニクス講演会講演概要集 2010, _1A1-C14_1-_1A1-C14_3  2010

Colorful touch palette

Y Hirobe, T Yoshida, S Kuroki, K Minamizawa, K Sato, S Tachi

ACM SIGGRAPH 2010 Emerging Technologies, 10  2010

Simplified design of haptic display by extending one-point kinesthetic feedback to multipoint tactile feedback

K Minamizawa, D Prattichizzo, S Tachi

2010 IEEE Haptics Symposium, 257-260  2010

Repro3d: full-parallax 3d display using retro-reflective projection technology

T Yoshida, S Kamuro, K Minamizawa, H Nii, S Tachi

ACM SIGGRAPH 2010 Emerging Technologies, 20  2010

Remotouch: A system for remote touch experience

D Prattichizzo, F Chinello, C Pacchierotti, K Minamizawa

19th International Symposium in Robot and Human Interactive Communication …  2010

Colorful Touch Palette: 視触覚テクスチャデザインシステム

廣部祐樹， 黒木忍， 佐藤克成， 南澤孝太， 舘�ワ

インタラクション, 195-196  2010

Using a fingertip tactile device to substitute kinesthetic feedback in haptic interaction

D Prattichizzo, C Pacchierotti, S Cenci, K Minamizawa, G Rosati

International Conference on Human Haptic Sensing and Touch Enabled Computer …  2010

テレイグジスタンスの研究 (第 63 報)-TELESA 3 において許容される通信遅延の検討

K Takeshita, K Watanabe, K Sato, K Minamizawa, S Tachi

日本バーチャルリアリティ学会大会論文集, 2010 15, 146-149  2010

見回し動作に対応した再帰性投影技術による乗り物の視野外情報提示

吉田匠， 城堅誠， 南澤孝太， 新居英明， 川上直樹， 舘すすむ

映像情報メディア学会誌 63 (6), 801-809  2009

ARForce: Augmented Reality のための光学式多点力ベクトルセンサ

城堅誠， 筧康明， 南澤孝太， 新居英明， 川上直樹， 舘�ワ

情報処理学会論文誌 50 (12), 2831-2840  2009

A display system for vehicle blind spot information using head tracked retro-reflective projection technology

T Yoshida, K Jo, K Minamizawa, H Nii, N Kawakami, S Tachi

Kyokai Joho Imeji Zasshi/Journal of the Institute of Image Information and …  2009

2A2-J05 指部触覚と前腕部力覚の統合による力触覚ディスプレイの設計方針

南澤孝太， 川上直樹

ロボティクス・メカトロニクス講演会講演概要集 2009, _2A2-J05_1-_2A2-J05_4  2009

1A1-A15 空中で使用可能なペン型ハプティックディスプレイの提案

家室証， 南澤孝太， 川上直樹

ロボティクス・メカトロニクス講演会講演概要集 2009, _1A1-A15_1-_1A1-A15_4  2009

Effect of haptic feedback on pseudo-haptic feedback for arm display

M Tatezono, K Sato, K Minamizawa, H Nii, N Kawakami, S Tachi

2009 ICCAS-SICE, 4332-4337  2009

Pen de touch

S Kamuro, K Minamizawa, N Kawakami, S Tachi

ACM SIGGRAPH 2009 Emerging Technologies, 17  2009

Ungrounded kinesthetic pen for haptic interaction with virtual environments

S Kamuro, K Minamizawa, N Kawakami, S Tachi

RO-MAN 2009-The 18th IEEE International Symposium on Robot and Human …  2009

硬さ識別における pseudo-haptic の影響

立薗真理

日本バーチャルリアリティ学会第 14 回大会論文抄録集, 2009  2009

バーチャルリアリティ技術 見回し動作に対応した再帰性投影技術による乗り物の視野外情報提示

吉田匠， 城堅誠， 南澤孝太， 新居英明， 川上直樹， 舘すすむ

The Journal of The Institute of Image Information and Television Engineers …  2009

Universita degli Studi di Siena SIRSLab

南澤孝太

日本バーチャルリアリティ学会誌= Journal of the Virtual Reality Society of Japan …  2009

6 自由度ヘッド及び空圧アームを有するロボットを用いたマスタスレーブシステムの構築-テレイグジスタンスの研究第 60 報

渡邊孝一

日本バーチャルリアリティ学会第 14 回大会論文抄録集, 2009  2009

6 自由度ヘッド及び空圧アームを有するロボットを用いたマスタスレーブシステムの構築-テレイグジスタンスの研究第 60 報

渡邊孝一

日本バーチャルリアリティ学会第 14 回大会論文抄録集, 2009  2009

TWISTER のための全周囲音響伝送システム

土場健太郎

日本バーチャルリアリティ学会第 14 回大会論文抄録集, 2009, 2A3-2  2009

TWISTER における多人数対面コミュニケーションのための自走式撮像システムの構築

佐野乾一

日本バーチャルリアリティ学会第 14 回大会論文抄録集, 2009, 2A3-1  2009

TWISTER における多人数対面コミュニケーションのための自走式撮像システムの構築

佐野乾一

日本バーチャルリアリティ学会第 14 回大会論文抄録集, 2009, 2A3-1  2009

TWISTER のための全周囲音響伝送システム

土場健太郎

日本バーチャルリアリティ学会第 14 回大会論文抄録集, 2009, 2A3-2  2009

1A1-I09 ロボットと操縦者の腕の固有受容感覚を一致させる力覚提示手法の提案 (感覚・運動・計測)

深町聡一郎， 南澤孝太， 渡邊孝一， 川上直樹

ロボティクス・メカトロニクス講演会講演概要集 2008, _1A1-I09_1-_1A1-I09_3  2008

ARForce: a marker-based augmented reality system for force distribution input

K Jo, Y Kakehi, K Minamizawa, H Nii, N Kawakami, S Tachi

Proceedings of the 2008 International Conference on Advances in Computer …  2008

ARForce

K Jo, Y Kakehi, K Minamizawa, H Nii, N Kawakami, S Tachi

ACM SIGGRAPH ASIA 2008 artgallery: emerging technologies, 39-39  2008

A palm-worn haptic display for bimanual operations in virtual environments

K Minamizawa, S Kamuro, N Kawakami, S Tachi

International Conference on Human Haptic Sensing and Touch Enabled Computer …  2008

A GPU-based real-time rendering method for immersive stereoscopic displays.

K Jo, K Minamizawa, H Nii, N Kawakami, S Tachi

SIGGRAPH Posters, 111  2008

1P1-I08 可動入力面を持つ光学式力ベクトル場センサの基礎検討 (触覚と力覚)

城堅誠， 筧康明， 南澤孝太， 佐藤克成， 新居英明， 川上直樹

ロボティクス・メカトロニクス講演会講演概要集 2008, _1P1-I08_1-_1P1-I08_2  2008

1P1-H19 「握り具合」 を入力とする円筒型インタフェースの開発 (ハプティックインタフェース)

古明地秀治， 佐藤克成， 南澤孝太， 新居英明， 川上直樹

ロボティクス・メカトロニクス講演会講演概要集 2008, _1P1-H19_1-_1P1-H19_4  2008

1P1-H13 装着型てのひらハプティックディスプレイ: てのひら動作の分類とデバイス試作 (ハプティックインタフェース)

家室証， 南澤孝太， 川上直樹

ロボティクス・メカトロニクス講演会講演概要集 2008, _1P1-H13_1-_1P1-H13_4  2008

ForceTile: tabletop tangible interface with vision-based force distribution sensing

Y Kakehi, K Jo, K Sato, K Minamizawa, H Nii, N Kawakami, T Naemura, ...

ACM SIGGRAPH 2008 new tech demos, 17  2008

Telesarphone: Mutual telexistence master-slave communication system based on retroreflective projection technology

S Tachi, N Kawakami, H Nii, K Watanabe, K Minamizawa

SICE Journal of Control, Measurement, and System Integration 1 (5), 335-344  2008

MeisterGRIP: ロボット操作のための円筒型インタフェース

古明地秀治， 佐藤克成， 立薗真理， 南澤孝太， 新居英明， 川上直樹， 舘�ワ

interactive-tokyo 2008  2008

MeisterGRIP: cylindrical interface for intuitional robot manipulation

S Komeiji, K Sato, K Minamizawa, H Nii, N Kawakami, S Tachi

ACM SIGGRAPH 2008 new tech demos, 25  2008

Interactive representation of virtual object in hand-held box by finger-worn haptic display

K Minamizawa, S Fukamachi, N Kawakami, S Tachi

2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator …  2008

IncreTable, a mixed reality tabletop game experience.

J Leitner, M Haller, K Yun, W Woo, M Sugimoto, M Inami

Advances in Computer Entertainment Technology, 9-16  2008

Haptics Symposium 2008

南澤孝太

日本バーチャルリアリティ学会誌= Journal of the Virtual Reality Society of Japan …  2008

GPU を用いた全周囲立体 CG 映像の実時間生成 (「テレイマージョン」 特集)

城堅誠， 南澤孝太， 新居英明， 川上直樹

日本バーチャルリアリティ学会論文誌 13 (3), 343-352  2008

GPU を用いた全周囲立体 CG 映像の実時間生成

城堅誠， 南澤孝太， 新居英明， 川上直樹， 舘日章

日本バーチャルリアリティ学論 13 (3), 343-352  2008

GhostGlove: 手全体への力覚提示を行うグローブ型ハプティックディスプレイ

家室証， 菊田恭平， 南澤孝太， 新居英明， 川上直樹， 舘瞕

日本バーチャルリアリティ学会大会論文集, 20080924 13, 159-162  2008

GhostGlove: Haptic existence of the virtual world

K Minamizawa, S Kamuro, S Fukamachi, N Kawakami, S Tachi

ACM SIGGRAPH 2008 new tech demos, 18  2008

Transparent cockpit: Visual assistance system for vehicle using retro-reflective projection technology

T Yoshida, K Jo, K Minamizawa, H Nii, N Kawakami, S Tachi

2008 IEEE Virtual Reality Conference, 185-188  2008

放射状カメラによる実時間全周囲立体映像撮像システム (「テレイマージョン」 特集)

加藤伸明， 城堅誠， 南澤孝太， 新居英明， 川上直樹

日本バーチャルリアリティ学会論文誌 13 (3), 353-362  2008

指先装着型触力覚ディスプレイを用いた空中における VR 物体の位置と大きさの提示 (「ウェアラブル・ユビキタス技術の実用展開」 特集)

南澤孝太， 家室証， 川上直樹

日本バーチャルリアリティ学会論文誌 13 (4), 415-420  2008

バーチャルな物体の質量および内部ダイナミクスを提示する装着型触力覚ディスプレイ (「ハプティックインタラクション」 特集)

南澤孝太， 深町聡一郎， 梶本裕之， 川上直樹

日本バーチャルリアリティ学会論文誌 13 (1), 15-23  2008

Visual Assistance System for Vehicle Using Retro-reflective Projection Technology; Takumi Yoshida; Kensei Jo; Kouta Minamizawa; Hideaki Nii; Naoki Kawakami; Susumu Tachi

T Cockpit

2008 IEEE Virtual Reality Conference, 185-188  2008

質量感覚を提示する指先装着型触覚ディスプレイ

南澤孝太

日本機械学会ロボティクス メカトロニクス講演会 2007 講演論文集  2007

A wearable haptic display to present the gravity sensation-preliminary observations and device design

K Minamizawa, H Kajimoto, N Kawakami, S Tachi

Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for …  2007

2P1-N06 質量感覚を提示する指先装着型触覚ディスプレイ (ハプティックインタフェース)

南澤孝太， 川上直樹

ロボティクス・メカトロニクス講演会講演概要集 2007, _2P1-N06_1-_2P1-N06_2  2007

1A2-E02 筋電位情報を利用したロボットアームの柔軟性制御 (感覚・運動・計測)

野田貴大， 渡邊孝一， 南澤孝太， 川上直樹

ロボティクス・メカトロニクス講演会講演概要集 2007, _1A2-E02_1-_1A2-E02_4  2007

Gravity grabber: wearable haptic display to present virtual mass sensation

K Minamizawa, S Fukamachi, H Kajimoto, N Kawakami, S Tachi

ACM SIGGRAPH 2007 emerging technologies, 8  2007

Spinning-disc 3D television

H Nii, K Minamizawa, N Kawakami, S Tachi

ACM SIGGRAPH 2007 emerging technologies, 19  2007

Haptic telexistence

K Sato, K Minamizawa, N Kawakami, S Tachi

ACM SIGGRAPH 2007 emerging technologies, 10  2007

Transparent cockpit

T Yoshida, K Jo, K Minamizawa, H Nii, N Kawakami, S Tachi

ACM SIGGRAPH 2007 emerging technologies, 22  2007

Wearable haptic display to present virtual mass sensation

K Minamizawa, S Fukamachi, H Kajimoto, N Kawakami, S Tachi

ACM SIGGRAPH 2007 sketches, 43  2007

TWISTER: Immersive omnidirectional autostereoscopic 3d booth for mutual telexistence

S Tachi

Proc. of ASIAGRAPH 2007 1, 1-6  2007

TWISTER: Immersive omnidirectional autostereoscopic 3d booth for mutual telexistence

S Tachi

Proc. of ASIAGRAPH 2007 1, 1-6  2007

2P2-B21 遭遇型マスタハンドにおける母指の制御手法

南澤孝太， 川渕一郎， 中河原修平， 梶本裕之， 川上直樹

ロボティクス・メカトロニクス講演会講演概要集 2006, _2P2-B21_1-_2P2-B21_2  2006

2P2-B27 指中節用触覚インターフェースの研究

東條晃一， 南澤孝太， 梶本裕之， 川上直樹

ロボティクス・メカトロニクス講演会講演概要集 2006, _2P2-B27_1-_2P2-B27_4  2006

Haptic interface for middle phalanx using dual motors

K Minamizawa, K Tojo, H Kajimoto, N Kawakami, S Tachi

Proceedings of the EuroHaptics 2006 Conference, 235-240  2006

lighting system having independent control function, electric decoration system, and display system

MYM KOUTA

 2006

Sensor networking using two-dimensional electromagnetic wave

Y Makino, K Minamizawa, H Shinoda

PROCEEDINGS OF THE SENSOR SYMPOSIUM ON SENSORS MICROMACHINES AND APPLIED …  2005

Through the looking glass-You can play against your own reflection

Y Kakehi, T Naemura

2005 ACM SIGCHI International Conference on Advances in Computer …  2005

Two-dimensional signal transmission for networked sensing

K Minamizawa, Y Makino, H Shinoda

Proc. SICE Annual Conf, 3816-3819  2005

Two dimensional communication technology for networked sensing system

Y Makino, K Minamizawa, H Shinoda

Proc. International Workshop on Networked Sensing Systems (INSS), 168-173  2005

Through the looking glass: you can play against your own reflection

Y Kakehi, T Naemura

Proceedings of the 2005 ACM SIGCHI International Conference on Advances in …  2005

Integrated machine readable media and ticket

D Werberig, T Knipe, P Robistow

US Patent App. 10/286,310  2004