錯覚現象R-V Dynamics Illusionにおける各種刺激の影響分析(4)～MR型視覚刺激に聴覚・触覚刺激を加えた場合について～

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(1)情報処理学会研究報告 IPSJ SIG Technical Report. Vol.2017-CVIM-205 No.12 2017/1/19. 㘒ぬ⌧㇟㻾㻙㼂㻌㻰㼥㼚㼍㼙㼕㼏㼟㻌㻵㼘㼘㼡㼟㼕㼛㼚 ࡟࠾ࡅࡿྛ✀่⃭ࡢᙳ㡪ศᯒ㻔㻠㻕㹼㻹㻾 ᆺどぬ่⃭࡟⫈ぬ࣭ゐぬ่⃭ࢆຍ࠼ࡓሙྜ࡟ࡘ࠸࡚㹼 ᒣ⏣ Ὀᕫ*1㻌 ᶫཱྀ ဴᚿ*1㻌 ᰘ⏣ ྐஂ*1㻌 ᮌᮧ ᮅᏊ*1 Taiki Yamada*1, Satoshi Hashiguchi*1, Fumihisa Shibata*1, and Asako Kimura*1 Abstract --- We have been studying the illusion phenomenon “R-V Dynamics Illusion”caused by different motional states of real object (R) and virtual object (V). Previously, we discovered a phenomenon that was when superimposing moving virtual liquid on a real object, the weight was perceived as being lighter than an actual object. As a next step, this paper confirmed that the same illusion phenomenon occurred even when the visual stimulus was changed from a liquid to a rigid body. Furthermore, if the visual stimulus is a rigid body, the impressions of the sound and the tactile sense will be strengthened when the object collides with this rigid body, so it is considered that not only the visual stimulus but also the influence of auditory and tactile senses will grow larger. Therefore, we conducted an experiment and analysis to find out what kind of influence be caused to this illusion when we also placed auditory and tactile stimuli. Keywords: Mixed Reality, Sense of Weight, Visual Stimulation, Psychophysical Influence. 㻝. ࡣࡌࡵ࡟. ேᕤ⌧ᐇឤ (Virtual Realty; VR) ࡛ࡣ㸪ἐධឤࡢ ࠶ࡿ❧యᫎീ✵㛫࡟㸪3 ḟඖ㡢ሙ⎔ቃ㸪ຊぬࣇ࢕࣮ ࢻࣂࢵࢡ࣭ࢹࣂ࢖ࢫࢆᑟධࡍࡿࡇ࡜࡛㸪௬᝿⎔ቃయ 㦂ࡢࣜ࢔ࣜࢸ࢕ࡀྥୖࡍࡿ㸬ࡍ࡞ࢃࡕ㸪ྛࠎࡢᢏ⾡࣭ ⾲⌧ຊྥୖࡀ㸪య㦂⪅࡟⮫ሙឤࡸἐධឤࢆ୚࠼ࡿ㸬 ୍᪉㸪VR ࡢⓎᒎᙧ࡛࠶ࡿࠕ」ྜ⌧ᐇឤࠖ (Mixed Reality; MR) ࡛ࡣ㸪ࡇࢀࡲ࡛ᐇ✵㛫࡜௬᝿✵㛫ࡢどぬⓗ࡞⼥ྜࢆ୰ᚰ࡟◊✲ࡀ㐍ࡵࡽࢀ࡚ࡁࡓࡀ㸪VR ྠᵝ࡟⫈ぬ࣭ゐຊぬᥦ♧ࡢᑟධࡣ㸪ࣜ࢔ࣜࢸ࢕ࡢྥ ୖࡀᮇᚅ࡛ࡁࡿ [1]㸬≉࡟㸪MR ✵㛫࡟࠾ࡅࡿどぬ ่⃭ࡣ㸪ᐇ≀యࡢゐຊぬࡣࡑࡢࡲࡲ࡟௬᝿≀యࢆ㔜 ␚ᥥ⏬ࡍࡿࡇ࡜࡛እほࢆኚ᭦࡛ࡁࡿ㸦௨ୗ㸪MR ᆺ どぬ่⃭㸧㸬ࡇࡢ MR ✵㛫≉᭷ࡢᛶ㉁ࡣ㸪どゐぬ┦ ஫స⏝࡟ࡼࡿຠᯝࡀᚓࡽࢀ㸪どぬ่⃭࡟ㄏⓎࡉࡏࡿ ࡼ࠺࡞ゐឤࡸຊぬࢆ⏕ᡂ࡛ࡁࡿሙྜࡀ࠶ࡿ㸬 ౛࠼ࡤ㸪ᡃࠎࡀ MR ᢏ⾡ࢆ⏝࠸࡚ෆ㒊࡟㗽ࢆᅛᐃ ࡋࡓࢣ࣮ࢫ࡟㸪ᡭࡢ᣺ࡾ࡟ᛂࡌ࡚≀యෆ㒊ࡢᾮయࡀ ᦂࢀࡿ CG ᫎീࢆ㔜␚ᥥ⏬ࡋࡓ࡜ࡇࢁ㸪 ࠕᾮయࡀධࡗ ࡚࠸ࡿࡼ࠺࡟ឤࡌࡿࠖ 㸪 ࠕᾮయࡀᦂࢀࡿ࡜㍍ࡃឤࡌࡿࠖ ࡜࠸࠺ពぢࡀᚓࡽࢀࡓ㸬ࡑࡇ࡛㸪ࡇࡢᐇ≀య (R) ࡜ ௬᝿≀య (V) ࡢ␗࡞ࡿ㐠ື≧ែࡀᘬࡁ㉳ࡇࡍ㘒ぬ ࢆࠕR-V Dynamics Illusionࠖ࡜࿨ྡࡋࡓ [2]㸬 *1 ❧࿨㤋኱Ꮫ኱Ꮫ㝔᝟ሗ⌮ᕤᏛ◊✲⛉. どぬ࡜ゐぬࡢ㱈㱒ࢆ⤌ࡳྜࢃࡏࡓ௦⾲ⓗ࡞㘒ぬ ⌧㇟࡜ࡋ࡚ Pseudo-Haptics [3] ࡀ࠶ࡿࡀ㸪ᡃࠎࡣ R-V Dynamics Illusion ࢆࡇࡢ㘒ぬࡢ୍✀࡜࡜ࡽ࠼㸪どゐぬ㛫࡟ᕪ␗ࢆⓎ⏕ࡉࡏࡓሙྜ࡟㸪ゐຊぬ࡟୚࠼ ࡿᙳ㡪࡟ࡘ࠸࡚⣔⤫ⓗ࡟ศᯒࡋ࡚ࡁࡓ [4 - 9]㸬 ࡇࢀࡲ࡛㸪ྠ㘒ぬ⌧㇟࡟㛵ࡍࡿ◊✲ࡣどぬ่⃭ࡀ ᾮయࡢሙྜࡢࡳ☜ㄆࡋ࡚࠸ࡿࡀ㸪ᮏ◊✲࡛ࡣ㸪ḟ࡞ ࡿࢫࢸࢵࣉ࡜ࡋ࡚㔜␚ᥥ⏬ࡍࡿ௬᝿≀యࢆᾮయ࠿ࡽ ぢࡓ┠ࡢ༳㇟ࡀ␗࡞ࡿ๛య࡟ኚ᭦ࡋࡓሙྜ㸪ྠ㘒ぬ ⌧㇟࡟୚࠼ࡿᙳ㡪ࢆ☜ㄆࡍࡿ㸬どぬ่⃭ࡀ๛య࡜࡞ ࡿ࡜㸪ඛ⾜◊✲࡛ᥦ♧ࡋࡓᾮయࡢ᮲௳ࡼࡾࡶ⾪✺ࡸ ⛣ື᫬ࡢゐឤࡢ༳㇟ࡀᙉࡃ࡞ࡾ㸪ぢࡓ┠࡜ゐឤࡢ㱈㱒ࡀ኱ࡁࡃ࡞ࡿ㸬 ࡑࡢࡓࡵ㸪 ඛ⾜◊✲࡜ྠᵝ࡟ࡣ R-V Dynamics Illusion ࡀⓎ⏕ࡋ࡞࠸ྍ⬟ᛶࡶ࠶ࡿ㸬ࡲ ࡓ㸪ࡇࢀࡲ࡛ࡣどぬ่⃭ࡢࡳࢆᑐ㇟࡜ࡋ ࡚ R-V Dynamics Illusion ࡢⓎ⏕᮲௳ࢆㄪ࡭࡚ࡁࡓࡀ㸪≀ యෆ㒊ࡢྍື≀ࢆ๛య࡜ࡍࡿࡇ࡜࡛㸪⫈ぬ㸪ゐぬࡀ ≀యࡢ⛣ື▱ぬ࡟୚࠼ࡿᙳ㡪ࡀ኱ࡁࡃ࡞ࡾ㸪ど⫈ゐぬࡢ┦஫స⏝ࢆ᳨ドࡍࡿ࠺࠼࡛ࡢࡼ࠸ࢸࢫࢺ࣋ࢵࢻ ࡜࡞ࡾ࠺ࡿ࡜⪃࠼ࡽࢀࡿ㸬 ࡑࡇ࡛㸪ᮏ✏࡛ࡣ㸪ࡲࡎ㸪๛యࡢ㐠ືࢆ᝿㉳ࡉࡏ ࡿ ௬ ᝿ ≀ య ࢆ ᥦ ♧ ࡍ ࡿ ࡇ ࡜ ࡛ R-V Dynamics Illusion ࡀⓎ⏕ࡍࡿࡢ࠿☜ㄆࡍࡿ㸬ࡑࡋ࡚㸪௬᝿ࡢ ๛యࡢ኱ࡁࡉࡸ㐠ື≧ែࡀྠ㘒ぬ⌧㇟࡟୚࠼ࡿᙳ㡪 ࢆ☜ㄆࡍࡿ㸬᭱ᚋ࡟㸪௬᝿ࡢ๛య࡟ᑐࡋ࡚⫈ぬ࣭ゐ. *1 Graduate School of Information Science and Engineering, Ritsumeikan University. ⓒ 2017 Information Processing Society of Japan. 1.

(2) 情報処理学会研究報告 IPSJ SIG Technical Report. ᪥ᮏ䝞䞊䝏䝱䝹䝸䜰䝸䝔䜱Ꮫ఍㻌」ྜ⌧ᐇឤ◊✲఍. ぬ่⃭ࢆ௜୚ࡍࡿࡇ࡜࡛ྠ㘒ぬ⌧㇟࡟୚࠼ࡿᙳ㡪ࢆ ☜ㄆ࣭ศᯒࡍࡿ㸬㻞. 㛵㐃◊✲. R-V Dynamics Illusion ࡣ㸪どぬ่⃭࡜ゐຊぬࡢ ᕪ␗࡟ࡼࡗ࡚⏕ࡌࡿ㘒ぬ⌧㇟࡛࠶ࡾ㸪 Pseudo-Haptics ࡢ୍✀࡜࠸࠺❧ሙ࠿ࡽどゐぬ┦஫ స⏝ࡢศᯒࡀ⾜ࢃࢀ࡚ࡁࡓ㸬 Pseudo-Haptics ࡣ㌟యືస࡜㐃ືࡋ࡚ືࡃどぬ ่⃭㸦࣐࢘ࢫࡢ࣮࢝ࢯࣝ࡞࡝㸧ࡢ㐠ື㔞ࢆኚ໬ࡉࡏ ࡿࡇ࡜࡛㸪᢬ᢠឤ [10] ࡸࢸࢡࢫࢳࣕࡢพฝឤ [11]㸪 ◳㌾ឤ [12] ࡞࡝ࡢከᙬ࡞␲ఝゐຊぬࢆᐇ⌧ࡍࡿࡇ ࡜ࡀྍ⬟࡛࠶ࡿ㸬ࡋ࠿ࡋ㸪ᐇ㝿࡟ࢣ࣮ࢫෆ㒊࡟⌫࡞ ࡝๛యࢆධࢀࡓሙྜࡢࡼ࠺࡟㸪ቨ㠃࡟⌫ࡀᙜࡓࡗࡓ ࡜ࡁ࡟⾪ᧁࡀ࠶ࡿ࡜㸪どぬ่⃭ࡢࡳ࡛ࡇࢀࢆ෌⌧ࡍ ࡿࡇ࡜ࡣ㞴ࡋ࠸㸬⾪ᧁࢆ⾲⌧ࡍࡿ᪉ἲ࡜ࡋ࡚㸪ᐇ㝿࡟࢔ࢡࢳ࢚࣮ࣗ ࢱ࡟ࡼࡗ࡚⾪ᧁࢆ୚࠼ࡿࡇ࡜ࡀ⪃࠼ࡽࢀࡿࡀ㸪ᮏ◊ ✲ࡢࡼ࠺࡟∦ᡭ࡛ᣢࡕୖࡆࡽࢀࡿ⛬ᗘࡢ୰㔜㔞≀య ࡛ࡣᵓ㐀ୖᦚ㍕ࡀ㞴ࡋ࠸㸬ࡑࡇ࡛㸪୰㔜㔞≀య࡛ࡶ ᦚ㍕ྍ⬟࡛࠿ࡘ⫈ぬ࣭ゐぬࡢᥦ♧᪉ἲࢆ⏝࠸ࡿᚲせ ࡀ࠶ࡿ㸬 ⫈ぬ᝟ሗࡣ㸪≀య࡜⾪✺ࡋࡓ㝿ࡢ㡢࡟ࡼࡗ࡚ᮦ㉁ ࢆุู࡛ࡁ㸪࠿ࡘ୰㌟ࡀ✵Ὕ࡛࠶ࡿ࠿࡞࡝ෆ㒊ࡢᵓ 㐀ࡀᢕᥱࡍࡿࡇ࡜ࡀ࡛ࡁࡿ㸬⾪✺㡢ࢆ 3 ḟඖ㡢ሙ⏕ ᡂ࡛ࣜ࢔ࣝࢱ࢖࣒࡟෌⌧ࡍࡿࡇ࡜ࡣྍ⬟࡛࠶ࡿࡀ㸪 య㦂⪅ࡢᡭඖࡢ㡢※ᐃ఩ࡍࡿࡇ࡜ࡣ㞴ࡋ࠸㸬 ࡑࡇ࡛㸪Yano ࡽࡣ㸪௬᝿≀య࡜ࡢ࢖ࣥࢱࣛࢡࢩࣙ ࣥ࡟ࡼࡗ࡚⏕ࡌࡿ㡢ࢆ㸪≀⌮ἲ๎࡟ᇶ࡙࠸࡚ィ⟬ࡍ ࡿࡇ࡜࡛㸪௵ពࡢᙧ≧㸪≀ᛶࢆ≀య࠿ࡽࡢ⫈ぬ࣭ຊ ぬ᝟ሗࢆᥦ♧ࡍࡿᡭἲࢆᥦ᱌ࡋ࡚࠸ࡿ [13]㸬ࡲࡓ㸪 ᭱ࡶ⡆᫆ⓗ࡞᪉ἲ࡜ࡋ࡚ࡣ㸪ᐇ≀య࠿ࡽᐇ㝿࡟ᨺᑕ ࡉࢀࡓ㡢ࢆ㘓㡢ࡋ,࿘ᅖࡢ⎔ቃ࡟ᛂࡌࡓຠᯝࢆຍ࠼ ࡿ࡞࡝ࡋ࡚ࡑࢀࢆ෌⏕ࡍࡿࡇ࡜ࡀ⪃࠼ࡽࢀࡿ㸬⾪ᧁ࡞࡝ࡢᙉ࠸ຊぬᥦ♧ࢆ⾜࠺ሙྜ㸪PHANToM [14] ࡸ SPIDAR [15] ࡞࡝ࡢຊぬᥦ♧⿦⨨ࢆ⏝࠸ࡿ ᨾ࡟㸪୰㔜㔞≀య࡟ᦚ㍕ࡍࡿ࡟ࡣ኱ᆺ࡞ࢹࣂ࢖ࢫ࡛ ࠶ࡿ㸬ᑠᆺ࠿ࡘᮏ᮶ࡢຊぬᥦ♧⿦⨨࡜➼౯࡞ຊぬࢆ ᥦ♧ࡍࡿࡓࡵ࡟㸪␲ఝຊぬࢆ⏝࠸ࡓᥦ♧᪉ἲࡀᥦ᱌ ࡉࢀ࡚࠸ࡿ㸬 ␲ఝຊぬࢆᥦ♧ࡍࡿ᪉ἲ࡜ࡋ࡚㸪⓶⭵ࡢᵓ㐀ࡸཷ ᐜჾࡢ≉ᛶࢆά࠿ࡋ࡚㸪ᑠᆺ࣮ࣔࢱࡸ᣺ືᏊࢆ⏝࠸ ࡓゐぬ่⃭࡟ࡼࡿᥦ♧ࡀ࠶ࡿ [16]㸬ࡇࡢᡭἲࡣ㸪ᐇ 㝿࡟≀య࡟⏕ࡌࡓ᣺ືࢆ཰㘓ࡋ࡚㸪ࡑࢀࢆ෌⏕ࡍࡿ ࡜ᐇ⌧࡛ࡁࡿ [17]㸬ࡲࡓ㸪཰㘓ࡍࡿ᣺ືࡸ᣺ືࡢᙉ ᗘࢆኚ᭦ࡍࡿࡇ࡜࡛㸪ᵝࠎ࡞ᮦ㉁ࡸᙧ≧ࡢࡶࡢࢆ෌ ⌧ࡍࡿࡇ࡜ࡶྍ⬟࡟࡞ࡿ㸬 ᮏ✏࡛ࡣ㸪୰㔜㔞≀య࡟ࡶᦚ㍕ྍ⬟࡞ᡭἲ࡛㸪࠿ ࡘ⫈ぬ࣭ゐぬ่⃭࡛⤫ไࡀྲྀࡾࡸࡍ࠸ᡭἲࢆ⏝࠸ࡿ㸬. ⓒ 2017 Information Processing Society of Japan. Vol.2017-CVIM-205 No.12 2017/1/19. Vol. 20, No.1, 2017. ༢⣧࡟ᐇ㝿ࡢࢣ࣮ࢫ࡜๛యࡢ⾪✺᫬ࡢ㡢ࢆ㞟㡢ࡋ࡚㸪 ࡑࢀࡒࢀࡢฟຊᶵჾ࡛෌⏕ࡍࡿ㸬ࡇࡢᡭἲ࡛࠶ࢀࡤ㸪 ⫈ぬ࣭ゐぬ่⃭ࡣ㸪ྠᵝࡢ㡢᝟ሗࢆ⏝࠸ࡿࡇ࡜ࡀ࡛ ࡁࡿࡓࡵ㸪どぬ่⃭࡜ࡢྛࠎࡢ⤌ࡳྜࢃࡏࡓᐇ㦂ࢆ ⾜࠺ࡇ࡜ࡀ࡛ࡁࡿ㸬ࡇࡢࡼ࠺࡟㸪≀యෆ㒊ࢆ㐠ືࡍ ࡿ≀య࡟╔┠ࡋ㸪ど⫈ゐぬࡢྛࠎ่⃭ࡀゐຊぬ࡟୚ ࠼ࡿᙳ㡪ࢆศᯒࡋࡓ౛ࡣ࡞࠸㸬㻟. ᐇ㦂┠ⓗ࡜‽ഛ. 㻟㻚㻝 ᐇ㦂┠ⓗ ᮏ◊✲࡛ࡣ㸪3 ࡘࡢᐇ㦂ࢆ㏻ࡋ࡚㸪௨ୗࡢࡇ࡜ࢆ ᫂ࡽ࠿࡟ࡍࡿࡇ࡜ࢆ┠ᣦࡍ㸬 ࣭ᐇ㦂 1㸸MR ᆺどぬ่⃭࡜ࡋ࡚ືⓗ࡞๛య㸦⌫㸧 ࢆᥦ♧ࡋࡓሙྜ R-V Dynamics Illusion ࡀⓎ⏕ ࡍࡿࡢ࠿☜ㄆࡋ㸪ศᯒ ࣭ᐇ㦂 2㸸௬᝿ࡢ⌫ࡢ኱ࡁࡉࡸ㏿ࡉࢆኚ᭦ࡋࡓሙྜ㸪 R-V Dynamics Illusion ࡀ㔜ࡉ▱ぬ࡟୚࠼ࡿᙳ㡪 ࢆ☜ㄆࡋ㸪ศᯒ ࣭ᐇ㦂 3㸸௬᝿≀యྠኈࡢ⾪✺᫬࡟⫈ぬ࣭ゐぬ่⃭ ࢆᥦ♧ࡋ㸪⾪✺ឤࢆ⾲⌧ࡋࡓሙྜ R-V Dynamics Illusion ࡀ㔜ࡉ▱ぬ࡟୚࠼ࡿᙳ㡪ࢆ☜ㄆࡋ㸪ศᯒ 㻟㻚㻞 ᐇ㦂‽ഛ ࠙ᐇ㦂⎔ቃࠚ ᐇ㦂࡛⏝࠸ࡿ MR ࢩࢫࢸ࣒ࡢᵓᡂࢆᅗ 㻝 ࡟♧ࡍ㸬 ᮏᐇ㦂࡛ࡣ㸪ࣅࢹ࢜ࢩ࣮ࢫ࣮ࣝᆺ HMD (Canon, HM-A1) ཬࡧ MR ✵㛫⟶⌮⏝ࢯࣇࢺ࢙࢘࢔(Canon, MREAL) ࢆ⏝࠸ࡿ㸬య㦂⪅ࡢ㢌㒊ཬࡧᐇ≀యࡢ఩ ⨨ጼໃ᝟ሗࡣ☢Ẽࢭࣥࢧ (POLHEMUS, 3SPACE FASTRAK) ࠿ࡽྲྀᚓࡍࡿ㸬య㦂⪅ࡀ MR ✵㛫ࢆほ ᐹࡍࡿ㝿㸪HMD ࡢ࣓࢝ࣛ࢟ࣕࣉࢳࣕ⏬ീ࡟ᑐࡋ࡚ ᡭ㡿ᇦࡢᢳฟࢆ⾜࠸㸪ࡑࡢ㡿ᇦࢆ࣐ࢫ࢟ࣥࢢࡍࡿࡇ ࡜࡛㸪ᡭ㡿ᇦ࡟௬᝿≀యࡀ㔜␚ᥥ⏬ࡉࢀ࡞࠸ࡼ࠺࡟ ࡍࡿ㸬ᮏࢩࢫࢸ࣒ࡣ㸪30fps ࡛ືసࡋ࡚࠾ࡾ㸪ணഛ ᐇ㦂࡟࠾࠸࡚᫬㛫ⓗ㐜ࢀ࣭ࡎࢀࡣឤࡌ࡞࠸࡜࠸࠺ព ぢࢆ⫈ྲྀࡋ࡚࠸ࡿ㸬ࡲࡓ㸪⫈ぬ่⃭ࡣᐦᑒᆺ࣊ࢵࢻ ࣍ࣥ (Peltor ♫, Htm79a) ࢆ㸪ゐぬ่⃭ࡣ᣺ືࢫࣆ ࣮࢝㸦࢔ࢡ࣮ࣦ࣭ࣛ࣎♫㸪ࣂ࢖ࣈࣟࢺࣛࣥࢫࢹ࣮ࣗ. 」ྜ⌧ᐇ✵㛫⟶⌮⏝㻼㻯㻔㻯㼍㼚㼛㼚㻌㻹㻾㻱㻭㻸㻌㻼㼘㼍㼠㼒㼛㼞㼙㻌㻿㼥㼟㼠㼑㼙㻕㻌. ☢Ẽࢭࣥࢧ ࢥࣥࢺ࣮ࣟࣛ 㻔㻼㻻㻸㻴㻱㻹㼁㻿㻌㻲㻭㻿㼀㻾㻭㻷㻕. 㢌㒊䠈䝕䝞䜲䝇 ఩⨨ጼໃ᝟ሗ. ෌⏕㡢⾲♧ᫎീ. 䝺䝅䞊䝞. 䝦䝑䝗䝩䞁. 㻴㻹㻰䝁䞁䝖䝻䞊䝷䜹䝯䝷ᫎീ 䝺䝅䞊䝞 ᣺ືᏊ ฟຊ. 䝖䝷䞁䝇䝭䝑䝍. ෌⏕㡢. ධຊ. ᅗ 㻝㻌 ࢩࢫࢸ࣒ᵓᡂ Fig.1 1 System Configuration. 2.

(3) 情報処理学会研究報告 IPSJ SIG Technical Report. Vol.2017-CVIM-205 No.12 2017/1/19. ࢧ㸧ࢆ⏝࠸࡚ᥦ♧ࡋࡓ㸬 ࠙౑⏝ࡍࡿᐇ≀యࠚ ⿕㦂⪅ࡀᢕᣢࡍࡿᐇ≀య࡜ࡋ࡚㸪ᢕᡭࢆྲྀࡾ௜ࡅ ࡓᖜ 165 × ዟ⾜ 80 × 㧗ࡉ 90mm ࡢ࢔ࢡࣜࣝࢣ࣮ࢫ ࢆ⏝࠸ࡿ㸬᣺ືࢫࣆ࣮࢝ࡣ㸪⌫ࡀࢣ࣮ࢫࡢᗏ㠃ࢆ㌿ ࡀࡿࡇ࡜ࢆ⪃៖ࡋ㸪ࢣ࣮ࢫࡢᗏ㎶୰ኸ࡟タ⨨ࡋࡓ㸬 ୍ࡘࡢ᣺ືࢫࣆ࣮࡛࢝ࡶ༑ศ࡟ࢣ࣮ࢫ඲యࢆ᣺ື ࡉࡏࡿࡇ࡜ࡀྍ⬟࡛࠶ࡾ㸪⿦⨨ࡢ⡆᫆໬ࡢࡓࡵ㸪᣺ ືࢫࣆ࣮࢝ࢆ୍ࡘᦚ㍕ࡋࡓ [18]㸬ࡲࡓ㸪ࢣ࣮ࢫෆ࡟ 㗽ࢆᅛᐃࡋ㸪࢔ࢡࣜࣝࢣ࣮ࢫࡢ㔜ࡉࢆ 750g ࡟࡞ࡿ ࡼ࠺⤫୍ࡋࡓ㸬࡞࠾㸪ࡇࡢ㉁㔞ࡣඛ⾜◊✲࡛ᮏ㘒ぬ ⌧㇟ࡢⓎ⏕ࢆ☜ㄆࡋࡓ᮲௳ࢆ㋃くࡋࡓ㸦ᅗ 㻞㸧㸬 ࠙㻹㻾 ᆺどぬ่⃭ࠚ MR ᆺどぬ่⃭࡜ࡋ࡚ᥦ♧ࡍࡿࢣ࣮ࢫࡢᑍἲࡣ㸪 ᐇ≀య࡜ྠᵝ㸪ᖜ 165 × ዟ⾜ 80 × 㧗ࡉ 90mm ࡛࠶ ࡿ㸬ࢣ࣮ࢫෆ࡟ධࢀࡿ๛యࡣ㸪ࡲࡎ≀⌮ἲ๎ࡢᩘᘧ ໬ࡀᐜ᫆࡞⌫య࡜ࡋ㸪ᇶ‽࡜ࡍࡿ⌫ࡢ኱ࡁࡉࡣ㸪ᐇ ≀యࡢࢣ࣮ࢫࡢ㧗ࡉࡢ༙ศࡢ 45mm ࡜ࡋࡓ㸬ᐇ㝿࡟ ౑⏝ࡋࡓ MR ᆺどぬ่⃭ࡀᅗ 㻟 ࡛࠶ࡿ㸬ࢣ࣮ࢫࡢෆ ቨ㠃ࡣⓑⰍ㸪⌫యࡣ㯮Ⰽ࡟╔Ⰽࡋ࡚࠸ࡿ㸬ࡇࡢⰍࡣ㸪 ࢥࣥࢺࣛࢫࢺࢆᙉࡃࡋ㸪⌫యࡢ⛣ື࡟╔┠ࡋࡸࡍ࠸ ࡼ࠺࡟㑅ᐃࡋࡓ㸬 ⌫ࡢ⛣ືࡣ㸪ᅗ 㻠 ࡟♧ࡍ⡆᫆ⓗ࡞ࣔࢹࣝࢆタᐃࡋ ࡓ㸬ࡇࡢࣔࢹࣝ࡟࠾࠸࡚㸪⿕㦂⪅ࡣࢣ࣮ࢫࢆᕥྑ࡟ ࡋ࠿᣺ࡽࡎ㸪⌫ࡣ㸪ᩳ㠃ࢆᚲࡎ㌿ࡀࡾ࡞ࡀࡽ⛣ືࡍ ࡿ㸪ࡑࡋ࡚✵Ẽ᢬ᢠࡣస⏝ࡋ࡞࠸㸪࡜࠸࠺᮲௳ࢆタ ࡅࡿ࡜㸪௨ୗࡢ㐠ື᪉⛬ᘧࡀᡂࡾ❧ࡘ㸬. MD (t ). Mg sin E t Fs. (1). ࡇࡇ࡛㸪 M ࡣ⌫ࡢ㉁㔞㸪 D (t ) ࡣ᫬้ t ࡟࠾ࡅࡿ⌫ ࡢຍ㏿ᗘ, g ࡣ㔜ຊຍ㏿ᗘ㸪 E t ࡣᢕᣢ≀యࡢഴࡁ㸪. Fs ࡣ⌫࡟స⏝ࡍࡿ㟼Ṇᦶ᧿ຊ࡜ࡍࡿ㸬࡞࠾㸪⌫ࡣᩳ. ☢Ẽ䝉䞁䝃. 㻥㻜㼙㼙. 㻝㻢㻡㼙㼙. ᅗ 㻞 ᐇ㦂࡛౑⏝ࡋࡓᐇ≀య Fig..2㻌Real Object Used in Experiments㻌. ࢆ I G 㸪᫬้ t ࡟࠾ࡅࡿᅇ㌿ゅࢆ T (t ) 㸪⌫ࡢ༙ᚄࢆ R. I GT (t ). RFs. (a) ⛣ື࠶ࡾࡢሙྜ. ᅗ 㻟 ᐇ㦂࡛ᥦ♧ࡋࡓ௬᝿≀య Fig.3㻌Virtual Object Used in Experiments㻌. R. Tt. Et. Mg cos E. ᅗ 㻠㻌 ⌫ࡢືࡁࡢ⡆᫆ࣔࢹࣝ Fig.4 Simplified Model of Ball Movement. MD (t ) (M . Mg sin E t IG )D (t ) R2. IG D (t ) R2. (5). Mg sin E t. ⌫ࡢ័ᛶ࣮࣓ࣔࣥࢺࡣ୍⯡ⓗ࡟ I G. (6). 2 MR 2 5. ࡜⾲ࡉࢀࡿࡢ࡛㸪(6)࡟௦ධࡍࡿ࡜㸪. (M (3). ࡲࡓ⌫ࡣᩳ㠃ࢆᚲࡎ㌿ࡀࡾ࡞ࡀࡽ⛣ືࡍࡿࡢ࡛ 䛸᭩䛟䛣䛸䛜䛷䛝䠈௨ୗ䛾ᘧ䛜ᡂ䜚❧䛴䠊. D (t ) R T (t ). Fs. Mg sin E. ࠼ࡀ࡛ࡁ㸪௨ୗࡢᘧࡀᡂࡾ❧ࡘ㸬. MD (t ). (a) ⛣ື࡞ࡋࡢሙྜ. (2). ࡜⾲ࡍࡇ࡜ࡀ࡛ࡁࡿ㸬ࡼࡗ࡚㸪㟼Ṇᦶ᧿ຊࡢ⨨ࡁ᥮. I Mg sin E t G T (t ) R. . . 㠃ࢆ⛣ືࡍࡿ㝿㸪㌿ࡀࡿࡢ࡛㸪⌫ࡢ័ᛶ࣮࣓ࣔࣥࢺ ࡜ࡍࡿ࡜㸪. ᢕᡭ. 䜰䜽䝸䝹䜿䞊䝇. 2 M )D (t ) 5. 7 MD (t ) 5. Mg sin E t. Mg sin E t. (7). (8). (8)ࡢᘧࢆゎࡃ࡜௨ୗࡢᘧࡀᡂࡾ❧ࡘ㸬 (4). D (t ). 5 g sin E t 7. (9). ᮏ◊✲࡛ࡣ㸪ࡇࡢ(9)࡛ồࡵࡓ್ࢆᐇ㦂࡛౑⏝ࡍࡿ. ⓒ 2017 Information Processing Society of Japan. 3.

(4) 情報処理学会研究報告 IPSJ SIG Technical Report. ᪥ᮏ䝞䞊䝏䝱䝹䝸䜰䝸䝔䜱Ꮫ఍㻌」ྜ⌧ᐇឤ◊✲఍. ⌫ࡢຍ㏿ᗘ࡜ࡍࡿ㸬 ࡲࡓ㸪⌫ࡢ኱ࡁࡉࡣ㸪┤ᚄ 45mm ࢆᇶ‽࡜ࡋ 50%, 75%, 100%, 125%, 150%ࡢ 5 ✀㢮㸦⾲㻞㸧ࢆ⏝ព ࡋࡓ㸬ᘧ (9) ࠿ࡽ⟬ฟࡉࢀࡿ್࡟ಀᩘ 25%, 50%, 75%,100%ࢆ᥃ࡅࡿࡇ࡜࡛␗࡞ࡿ㏿ᗘ 4 ✀㢮ࢆ⏝ព ࡋࡓ㸦⾲㻟㸧㸬 ࠙ゐぬ่⃭ࠚ ᐇ㝿࡟ෆ㒊࡟⌫యࡀධࡗࡓࢣ࣮ࢫࢆᢕᣢࡍࡿ࡜㸪 ᵝࠎ࡞ゐぬ่⃭ࡀ▱ぬࡉࢀࡿ㸬౛࠼ࡤ㸪⌫యࡀ㌿ࡀ ࡿ㝿ࡢ᣺ື㸪ࢣ࣮ࢫෆቨ㠃࡜⌫యࡀ⾪✺ࡍࡿ㝿ࡢ⾪ ᧁ࡞࡝࡛࠶ࡿ㸬ᮏ✏࡛ࡣ㸪ᚋ⪅ࡢࢣ࣮ࢫෆቨ㠃࡜⌫ యࡀ⾪✺ࡍࡿ㝿ࡢ⾪ᧁ࡟╔┠ࡍࡿ㸬ෆ㒊ࡢ≀యࡀ๛ యࡢሙྜ㸪⾪ᧁࡢ༳㇟ࡀ࠿࡞ࡾ኱ࡁ࠸㸬ࡑࢀ࡟ຍ࠼ ࡚㸪どぬ่⃭ࡢࡳ࡛ࡣᥦ♧ࡀᅔ㞴࡛࠶ࡿࡓࡵ㸪どぬ ่⃭࡜ࡣ␗࡞ࡿᙳ㡪ࢆᮏ㘒ぬ⌧㇟࡟୚࠼ࡿྍ⬟ᛶ ࡀ࠶ࡿ࡜⪃࠼ࡓ㸬 ࡑࡇ࡛㸪ᐇ㦂 3 ࡛౑⏝ࡍࡿゐぬ่⃭࡜ࡋ࡚㸪௬᝿ ≀యྠኈࡢ⾪✺ࢆ⾲⌧ࡍࡿࡓࡵ㸪ᐇ㦂࡛౑⏝ࡍࡿ࢔ ࢡࣜࣝࢣ࣮ࢫ㸦ཌࡳ 3mm㸧࡜ᐇ≀ࡢ㗰⌫㸦370g㸧 ࢆ⾪✺ࡉࡏࡓ㝿ࡢ㡢ࢆ཰㘓ࡋ㸪᣺ືࢫࣆ࣮࡛࢝෌⏕ ࡍࡿࡇ࡜࡟ࡋࡓ㸬⾪✺㡢ࡢ཰㘓࡟ࡣ㸪ࢥࣥࢹࣥࢧ࣐ ࢖ࢡ㸦࣍ࢩࢹࣥ, KUB8223㸧ࢆ౑⏝ࡋ㸪⾪ᧁ᫬ࡢ㡢 ࡢࡳࢆᢳฟࡋ㸪ᘧ (9) ࡟࠶ࢃࡏ࡚௬᝿≀యࡀ⾪✺ࡋ ࡓࢱ࢖࣑ࣥࢢ࡛෌⏕ࡍࡿ㸬 ᣺ືࡢᙉᗘࡣ㸪⌫ࡢぢࡓ┠࠿ࡽࡃࡿ᣺ືࡢ኱ࡁࡉ ࡢ༳㇟ࢆᇶ‽࡟⿕㦂⪅ 7 ྡ࡟⌫ࡢ⛣ືࢆほᐹࡉࡏ࡞ ࡀࡽ᣺ືࢆᥦ♧ࡋࡓ㸬ࡇࡢ᫬᣺ືࡢᙉࡉࢆኚ᭦ࡋ㸪ぢࡓ┠ࡢ⾪✺ࡢ༳㇟࡟ྜ࠺᣺ືࡢᙉࡉࢆᅇ⟅ࡉࡏ グ㘓ࡋࡓ㸬ࡑࡋ࡚㸪ぢࡓ┠ࡢ⾪✺ࡢ༳㇟࡜᣺ື࡟㐪 ࿴ឤࡀ↓࠸࡜ᅇ⟅ࢆᚓࡓᙉᗘ࡟タᐃࡋࡓ㸬 ࠙⫈ぬ่⃭ࠚ ᐇ㦂 3 ࡛౑⏝ࡍࡿ⫈ぬ่⃭ࡶ㸪ゐぬ่⃭࡜ྠᵝ࡟ ࢣ࣮ࢫෆቨ㠃࡜⌫యࡀ⾪✺ࡍࡿ㝿ࡢ㡢ࢆ෌⏕ࡍࡿ㸬 ⫈ぬ่⃭ࡢᥦ♧࡟ࡣ㸪᣺ືࢫࣆ࣮࢝࠿ࡽ᣺ືࢆᥦ♧ ࡍࡿ㝿࡟Ⓨ⏕ࡍࡿ᣺ື㡢ࡀ⿕㦂⪅࡟⪺ࡇ࠼࡞࠸ࡼ ࠺࡟ᐦᑒᆺ࣊ࢵࢻ࣍ࣥ⏝࠸ࡓ㸬⾪✺㡢࡜ࡋ࡚෌⏕ࡍ ࡿ㡢※ࡣ᣺ືࢫࣆ࣮࡛࢝෌⏕ࡉࢀ࡚࠸ࡿྠࡌ㡢※ ࢆ෌⏕ࡋ࡚࠸ࡿ㸬⾪✺㡢ࡢ㡢㔞ࡣ㸪⌫ࡢぢࡓ┠࠿ࡽ ࡃࡿ⾪✺㡢ࡢ኱ࡁࡉࡢ༳㇟ࢆᇶ‽࡟⿕㦂⪅ 7 ྡ࡟⌫ ࡢ⛣ືࢆほᐹࡉࡏ࡞ࡀࡽ⾪✺㡢ࢆ෌⏕ࡋࡓ㸬ࡇࡢ᫬ ⾪✺㡢ࡢ㡢㔞ࢆኚ᭦ࡋ༳㇟࡟ྜ࠺㡢㔞ࢆᅇ⟅ࡉࡏ グ㘓ࡋࡓ࡜ࡇࢁᖹᆒ 64dB ࡢ㡢㔞࡜࡞ࡾ㸪ぢࡓ┠ࡢ ⾪✺࡜⾪✺㡢ࡢ༳㇟࡟㐪࿴ឤࡀ↓࠸࡜ᅇ⟅ࢆᚓࡓ㸬 ࡑࡇ࡛㸪ᐇ㦂࡛ࡣࡇࡢ್ 64dB ࡟タᐃࡋࡓ㸬 ᐇ㦂 3 ࡛ࡣ㸪 MR ᆺどぬ่⃭࡟ᑐࡋ࡚ࡇࢀࡽࡢ ⫈ぬ่⃭࡜ゐぬ่⃭ࢆྛࠎ௜୚ࡋࡓ⾲㻠 ࡢ 4 ࣃࢱ࣮ ࣥࡢ่⃭ࢆᥦ♧ࡋ㸪R-V Dynamics Illusion ࡟୚࠼ ࡿᙳ㡪ࢆ⣔⤫ⓗ࡟ᐇ㦂ࡋ࡚࠸ࡃ㸬. ⓒ 2017 Information Processing Society of Japan. Vol.2017-CVIM-205 No.12 2017/1/19. Vol. 20, No.1, 2017. ⾲㻝 ᐇ㦂 1 ࡛ࡢᥦ♧ࣃࢱ࣮ࣥ Table 1 Experimental Patterns in Experiment1 ᥦ♧ࣃࢱ࣮ࣥ. ≧ែ. P_A1. CG ࡢᥦ♧࠶ࡾ㸦⛣ື࠶ࡾ㸧. P_A2. CG ࡢᥦ♧࠶ࡾ㸦⛣ື࡞ࡋ㸧. P_A3. CG ࡢ࡞ࡋ . ⾲㻞 ᐇ㦂 2 ࡛ࡢᥦ♧ࣃࢱ࣮ࣥ㸦኱ࡁࡉ㸧 Table 2 Experimental Patterns in Experiment2 (Size) ᥦ♧ࣃࢱ࣮ࣥ. ⌫ࡢ኱ࡁࡉ. P_B1. 50% (22.50mm). P_B2. 75% (33.75mm). P_B3. ᇶ‽ 100% (45.00mm). P_B4. 125% (56.25mm). P_B5. 150% (67.50mm) . ⾲㻟 ᐇ㦂 2 ࡛ࡢᥦ♧ࣃࢱ࣮ࣥ㸦㏿ᗘ㸧 Table 3 Experimental Patterns in Experiment2 (Speed) ᥦ♧ࣃࢱ࣮ࣥ. ᥦ♧ࡍࡿ่⃭. P_C1. 100%㸦ᶆ‽㸧. P_C2. 75%. P_C3. 50%. P_C4. 25%. ⾲㻠 ᐇ㦂 3 ࡛ࡢᥦ♧ࣃࢱ࣮ࣥ Table 4 Experimental Patterns in Experiment3 ᥦ♧ࣃࢱ࣮ࣥ. 㻠. ᥦ♧ࡍࡿ่⃭. P_D1. CG ࡢࡳࢆᥦ♧. P_D2. CG࣭ゐぬ่⃭ࢆᥦ♧. P_D3. CG࣭⫈ぬ่⃭ࢆᥦ♧. P_D4. CG࣭⫈ぬ࣭ゐぬ่⃭ࢆᥦ♧. ᐇ 㦂㸸 ๛ య ᮲ ௳ ࡟ ࠾ ࡅ ࡿ 59 '\QDPLFV ,OOXVLRQ ࡢ☜ㄆᐇ㦂. 㻠㻚㻝 ᐇ㦂┠ⓗ MR ᆺどぬ่⃭࡜ࡋ࡚ືⓗ࡞๛యࢆᥦ♧ࡋࡓሙྜ㸪. 4.

(5) 情報処理学会研究報告 IPSJ SIG Technical Report. R-V Dynamics Illusion ࡢⓎ⏕ࢆ☜ㄆࡋ㸪㔜ࡉ▱ぬ ࡟୚࠼ࡿᙳ㡪ࢆศᯒࡍࡿ㸬ලయⓗ࡟ࡣ㸪ᐇ≀య࡟ᑐ ࡋ࡚ෆ㒊࡛⌫ࡢ⛣ືࢆ᝿㉳ࡉࡏࡿ MR ᆺどぬ่⃭ࢆ ᥦ♧ࡋࡓሙྜ㸪⌫ࡢ⛣ື࠶ࡾ࣭࡞ࡋ᮲௳࡟࠾࠸࡚㔜 ࡉ▱ぬ࡟ᙳ㡪ࡀ࠶ࡿࡢ࠿☜ㄆࡍࡿ㸬ࡲࡓ㸪ᐇ≀య࡜ ࡢ㔜ࡉࢆẚ㍑ࡍࡿࡓࡵ㸪MR ᆺどぬ่⃭ࢆᥦ♧ࡋ࡞ ࠸᮲௳ࡶᥦ♧ࣃࢱ࣮ࣥ࡟ຍ࠼ࡓ㸬どぬ่⃭ࡀ๛య࡜࡞ࡿ࡜㸪ඛ⾜◊✲࡛ᥦ♧ࡋࡓᾮ యࡢ᮲௳ࡼࡾࡶ⾪✺ࡸ⛣ື᫬ࡢゐឤࡢ༳㇟ࡀᙉࡃ࡞ ࡾ㸪ぢࡓ┠࡜ゐឤࡢ㱈㱒ࡀ኱ࡁࡃ࡞ࡿ㸬ࡑࡢࡓࡵ㸪 ඛ⾜◊✲࡜ྠᵝ࡟ࡣ R-V Dynamics Illusion ࡀⓎ⏕ ࡋ࡞࠸ྍ⬟ᛶࡶ࠶ࡿ㸬㏫࡟㸪ᾮయࡢሙྜ࡜ྠࡌഴྥ ࡜࡞ࡿࡢ࡛࠶ࢀࡤ㸪⌫ࡀ⛣ືࡍࡿሙྜ࡟ᐇ≀యࢆ᭱ ࡶ㍍ࡃ▱ぬࡍࡿࡣࡎ࡛࠶ࡿ㸬㻠㻚㻞 ᐇ㦂᮲௳ ᐇ㦂 1 ࡛ࡣ㸪⌫ࡢ㐠ື≧ែࡀ␗࡞ࡿ 2 ✀㢮ࡢ௬᝿ ≀య㸦P_A1㸸⛣ື࠶ࡾ, P_A2㸸⛣ື࡞ࡋ㸧࡜ MR ᆺどぬ่⃭ࢆᥦ♧ࡋ࡞࠸ሙྜ㸦P_A3㸸CG ࡞ࡋ

(6) ࡢ ィ 3 ✀㢮ࡢ࠺ࡕ 2 ✀㢮ࢆࣛࣥࢲ࣒࡟㑅ฟࡋ㸪ࢧ࣮ࢫ ࢺࣥࡢ୍ᑐẚ㍑ἲ࡟ᇶ࡙࠸࡚㸪࡝ࡕࡽࡀࡼࡾ㔜ࡃឤ ࡌࡓ࠿ẚ㍑࣭ᅇ⟅ࡉࡏࡿ㸬ࡇࢀࢆ඲࡚ࡢ⤌ࡳྜࢃࡏ ࡟ࡘ࠸࡚⾜࠸㸪ྛ᮲௳࡛⿕㦂⪅ࡀ▱ぬࡍࡿ㔜ࡉࡢᚰ ⌮ᑻᗘࢆ⟬ฟࡍࡿ㸬ࡲࡓ㸪᣺ࡾ᪉ࡢ㐪࠸࡟ࡼࡿ▱ぬ ࡟୚࠼ࡿᙳ㡪ࢆ᤼㝖ࡍࡿࡓࡵ㸪ᐇ㦂๓࡟ጼໃࡸ᣺ࡾ ືసࢆᩍ♧ࡋ㸪඲࡚ࡢ⿕㦂⪅࡛⤫ไࢆ࡜ࡗࡓ㸬ලయ ⓗ࡟ࡣ㸪┤❧ࡋࡓጼໃ࡛⫝ࢆ⣙ 45°࡟ᒅ᭤ࡉࡏ㸦⭎ ࢆ┿ࡗ┤ࡄ࡟ࡋࡓሙྜࢆ 0°࡜ࡍࡿ㸧㸪᣺ࡾືసࡣ࣓ ࢺࣟࣀ࣮࣒ࡢࢸ࣏ࣥ 60BPM ࡟ྜࢃࡏ࡚࠸ࡿ㸬ࡇࢀ ࡣ㸪⌫యࡀࢣ࣮ࢫࡢ➃࠿ࡽ➃ࡲ࡛ືࡃࡢ࡟ᚲせ࡞᫬ 㛫࡛タᐃࡋࡓ㸬 ᐇ≀యࡢ᣺ࡾᖜࡣ㸪Ỉᖹࢆ 0°࡜ࡋࡓ㝿㸪ᕥྑࡑࢀ ࡒࢀ 30°⛬ᗘ࡜ࡋࡓ㸬ᕥྑ࡟ 30°௨ୖഴࡅࡿ࡜ࡈࡃ▷ ࡃࣅ࣮ࣉ㡢ࡀ㬆ࡾ㸪ࡍࡄ࡟㏫᪉ྥ࡟᣺ࡿࡼ࠺ᣦ♧ࡋ ࡓ㸬ࡇࢀࡽࡢ᣺ࡾືసࡢ⦎⩦ࢆ⾜ࡗࡓୖ࡛㸪ᐇ㦂ࢆ ⾜ࡗࡓ㸬⿕㦂⪅ࡣ 11 ྡ㸦⏨ᛶ 9 ྡ㸪ዪᛶ 2 ྡ㸧㸪ヨ⾜ᅇᩘࡣ 1 ྡ࠶ࡓࡾ 3C2=3 ᅇ࡛࠶ࡿ㸬㻠㻚㻟 ᐇ㦂ᡭ㡰 ᐇ㦂ᡭ㡰ࡣ௨ୗࡢ㏻ࡾ㸬 (1) ⿕㦂⪅࡟ HMD ࢆ⿦╔ࡉࡏࡿ (2) 3 ✀㢮ࡢᥦ♧ࣃࢱ࣮ࣥࡢ࠺ࡕ 2 ✀㢮ࢆࣛࣥࢲ࣒ ࡟㑅ฟࡍࡿ (3) (2) ࡛㑅ฟࡋࡓࣃࢱ࣮ࣥࡢ࠺ࡕ 1 ࡘࢆᥦ♧ࡍࡿ (4) ⿕㦂⪅ࡣỴࡵࡽࢀࡓጼໃ㸦⫝ࢆ 45°࡟ᒅ᭤ࡉࡏ ࡓ≧ែ㸧࡛ᐇ≀యࢆᢕᣢࡋ㸪࣓ࢺࣟࣀ࣮࣒ࡢࢸ ࣏ࣥ (60BPM) ࡟ྜࢃࡏ࡚ 5 ⛊㛫㸪ࢣ࣮ࢫࢆᕥ ྑ࡟᣺ࡿືసࢆ⾜ࢃࡏࡿ (5) (2) ࡛㑅ฟࡋࡓṧࡾࡢࣃࢱ࣮ࣥ࡟ࡘ࠸࡚ࡶ㸪ྠ ᵝ࡟ (3)(4) ࢆ⧞ࡾ㏉ࡍ (6) 1 ᅇ┠࡜ 2 ᅇ┠ࡢヨ⾜ࡢ࠺ࡕ㸪࡝ࡕࡽࡀࡼࡾ㔜. ⓒ 2017 Information Processing Society of Japan. Vol.2017-CVIM-205 No.12 2017/1/19. ࡃឤࡌࡓ࠿ࢆᅇ⟅ࡉࡏࡿ (7) ➽⑂ປ࡟ࡼࡿᙳ㡪ࢆ᤼㝖ࡍࡿࡓࡵ㸪1 ศ⛬ᗘࡢ ࢖ࣥࢱ࣮ࣂࣝࢆタࡅࡿ (8) ṧࡾࡢ⤌ࡳྜࢃࡏ࡟ࡘ࠸࡚ࡶ (2) ~ (7) ࢆ⧞ࡾ ㏉ࡍ 㻠㻚㻠 ᐇ㦂⤖ᯝ ᐇ㦂 1 ࡢ⤖ᯝࢆᅗ 㻡 ࡟♧ࡍ㸬ᅗ୰ࡢ 1 ᮏࡢᩘ┤⥺ ࡣᥦ♧ࣃࢱ࣮ࣥࡈ࡜࡟ᚓࡽࢀࡓ㔜ࡉࡢᚰ⌮ᑻᗘࢆ♧ ࡋ࡚࠸ࡿ㸬ᩘ್ࡀᑠࡉࡃ࡞ࡿ࡟ࡘࢀ࡚㸪⿕㦂⪅ࡣᢕ ᣢ≀యࢆࡼࡾ㔜ࡃឤࡌࡓࡇ࡜ࢆ♧ࡍ㸬ࡲࡓ㸪ࡇࡢ⤖ ᯝࢆ࣎ࣥࣇ࢙࣮ࣟࢽἲ࡟ࡼࡾ᭷ពᕪࢆ☜ㄆࡋࡓ㸬ᐇ 㦂 1 ࡢ⤖ᯝ࠿ࡽ㸪௨ୗࡢࡇ࡜ࡀศ࠿ࡿ㸬 (i) ௬᝿≀యࢆᥦ♧ࡋ࡞࠸᮲௳ࡀ㸪᭱ࡶᢕᣢ≀యࢆ 㔜ࡃ▱ぬࡋࡓ (ii) ⌫ࡀ⛣ືࡍࡿ᮲௳ࡀ㸪᭱ࡶᢕᣢ≀యࢆ㍍ࡃ▱ぬ ࡋࡓ (i) ࡣ㸪P_A3㸦CG ࡞ࡋ㸧ࡣ㸪P_A1㸦⛣ື࠶ࡾ㸧 ࡜ P_A2㸦⛣ື࡞ࡋ㸧ࢆẚ㍑ࡍࡿ࡜᭱ࡶ㔜ࡃ▱ぬࡉ ࢀࡿࡇ࡜࠿ࡽศ࠿ࡿ㸬P_A3 ࡣ㸪CG ࡀᥥ⏬ࡉࢀ࡚࠾ ࡽࡎ㸪┿ࡗ㯮࡞ࢣ࣮ࢫࢆ᣺ࡽࡏ࡚࠸ࡿࡀ㸪P_A1 ࡜ P_A2 ࡣ CG ࡜ࡋ࡚ⓑ࠸ࢣ࣮ࢫ࡜㯮࠸⌫ࡀᥥ⏬ࡉࢀ ࡚࠸ࡿ㸬㬆ᾏࡽࡢ◊✲ [19] ࠿ࡽ㯮ⰍࡼࡾࡶⓑⰍ ࡢ᪉ࡀ㍍ࡃឤࡌࡿഴྥࡀ♧၀ࡉࢀ࡚࠸ࡿ㸬ࡼࡗ࡚㸪 ࡇࡢ⤖ᯝࡶⰍࡢ᝟ሗ࡟ࡼࡿᙳ㡪࡛㸪CG ࡞ࡋ᮲௳ ࡀ᭱ࡶ㔜ࡃ▱ぬࡋࡓ㸬 (ii) ࡣ㸪CG ࢆᥦ♧ࡍࡿ᮲௳࡟࡚㸪P_A1㸪P_A2 ࢆẚ㍑ࡍࡿ࡜ P_A1 ࡢ᪉ࡀ㍍ࡃ▱ぬࡉࢀࡿࡇ࡜࠿ࡽ ศ࠿ࡗࡓ㸬ࡇࡢ⤖ᯝࢆ (i) ࡜ྵࡵ࡚⪃࠼ࡿ࡜ P_A1㸪 P_A2㸪P_A3 ࡢ㡰࡟㍍ࡃ▱ぬࡉࢀࡓࡇ࡜ࡀศ࠿ࡿ㸬 ࡲࡓ㸪࣎ࣥࣇ࢙࣮ࣟࢽἲ࡟ࡼࡾࡍ࡭࡚ࡢヨ⾜ࣃࢱ࣮ ࣥ࠿ࡽ᭷ពỈ‽ 1%࡛ᕪ␗ࡀぢࡽࢀࡓ㸬 P_A1㸪P_A2 ࡢどぬ่⃭ࡣ㸪Ⰽࡢ᝟ሗࡀྠࡌ࡛࠶ ࡾ㸪⌫ࡢ⛣ືࡢ᭷↓ࡢ㐪࠸ࡀ࠶ࡿ㸬ࡑࡢࡓࡵ㸪⌫ࡀ ⛣ືࡍࡿ MR ᆺどぬ่⃭ࢆᥦ♧ࡍࡿ࡜㸪㔜ࡉ▱ぬ࡟ ᙳ㡪ࢆ୚࠼࡚࠸ࡿࡇ࡜ࡀศ࠿ࡿ㸬ࡇࢀࡣ㸪ඛ⾜◊✲ [2] ࡜ྠᵝࡢ⤖ᯝ࡛࠶ࡾ㸪どぬ่⃭ࡀ๛య࡛⾪✺ࡸ ⛣ື᫬ࡢゐឤࢆᥦ♧ࡋ࡞࠸࡜࠸࠺᮲௳ୗ࡛ࡶ R-V Dynamics Illusion ࡀⓎ⏕ࡍࡿࡇ࡜ࢆ☜ㄆࡋࡓ㸬㻖㻖 P_A3. -2.5. -2. -1.5. -1. -0.5. 㻖㻖 P_A2. 0. 0.5. P_A1. 1. 1.5. 㔜䛔. 2. 2.5. ㍍䛔. 䝪䞁䝣䜵䝻䞊䝙ἲ䜘䜚㻖㻖㻌㻦㻌㼜㻌㻨㻌㻜㻚㻜㻝. ᅗ 㻡 ᐇ㦂 1 ࡢ⤖ᯝ Fig.5 Result of Experiment 1. 5.

(7) 情報処理学会研究報告 IPSJ SIG Technical Report. 㻡. Vol. 20, No.1, 2017. ᪥ᮏ䝞䞊䝏䝱䝹䝸䜰䝸䝔䜱Ꮫ఍㻌」ྜ⌧ᐇឤ◊✲఍. ᐇ㦂㸸どぬ่⃭ࡢኚ᭦࡟ࡼࡗ࡚㔜ࡉ▱ぬ࡟୚ ࠼ࡿᙳ㡪. 㻖㻖. 㻡㻚㻝 ᐇ㦂┠ⓗ. Vol.2017-CVIM-205 No.12 2017/1/19. 㻖㻖. 㻼㼋㻮㻝㻜㻼㼋㻮㻥. 㻖㻖㻼㼋㻮㻤. 㻖㻖㻼㼋㻮㻣. 㻖㻖㻼㼋㻮㻢. 㻖㻖㻼㼋㻮㻡. 㻖㻖. 㻖㻖. 㻼㼋㻮㻠. 㻼㼋㻮㻟. 㻖㻖㻼㼋㻮㻞. 㻼㼋㻮㻝 1. ᐇ㦂 1 ࡛ࡣ㸪ືⓗ࡞๛యࡢ௬᝿≀యࢆᢕᣢ≀యෆ 㒊࡟ᥦ♧ࡋࡓ㝿㸪R-V Dynamics Illusion ࡀⓎ⏕ࡋ㸪㔜ࡉ▱ぬ࡟ᙳ㡪ࢆ୚࠼ࡿࡇ࡜ࢆ☜ㄆࡋࡓ㸬ྠ㘒ぬ⌧ ㇟ࡣ㸪ඛ⾜◊✲ࡼࡾ௬᝿≀యࡢᾮయᐜ㔞ࡸᾮ㠃ࡢ㏿ ᗘࢆኚ᭦ࡍࡿࡇ࡜࡛㸪㔜ࡉ▱ぬ࡟୚࠼ࡿᙳ㡪ࡀኚ໬ ࡍࡿࡇ࡜ࡀศ࠿ࡗ࡚࠸ࡿ㸬ࡑࡢࡓࡵ㸪ᮏ◊✲ࡢࡼ࠺ ࡞௬᝿ࡢ⌫࡛ࡶ㸪⌫ࡢ኱ࡁࡉࡸ㏿ࡉࢆኚ᭦ࡍࡿࡇ࡜ ࡟ࡼࡗ࡚㔜ࡉ▱ぬ࡟ᙳ㡪ࢆ୚࠼ࡿྍ⬟ᛶࡀ㧗࠸㸬ࡑ ࡇ࡛㸪ᐇ㦂 2 ࡛ࡣ㸪どぬ่⃭ࡢ᮲௳ࡢࡳ㸦⌫ࡢ኱ࡁ ࡉ࣭㏿ࡉ㸧ࢆኚ᭦ࡋࡓሙྜࡢ㸪㔜ࡉ▱ぬ࡬ࡢᙳ㡪ࢆ ☜ㄆࡍࡿ㸬㻡㻚㻞 ᐇ㦂᮲௳࣭ᡭ㡰 ⌫ࡢ኱ࡁࡉ࡟㛵ࡍࡿᐇ㦂࡛ࡣ㸪ᐇ㦂 1 ࡛౑⏝ࡋࡓ ྠᙧ≧ࡢ௬᝿ࡢࢣ࣮ࢫࢆ฼⏝ࡍࡿ㸬ࡇࡢᐇ㦂࡛ࡣ㸪 ⌫ࡢ኱ࡁࡉ࣭㏿ࡉࢆኚ᭦ࡍࡿ㸬⌫ࡢ኱ࡁࡉ࡟㛵ࡍࡿ ᐇ㦂࡛ࡣ㸪⿕㦂⪅ࡢᡭࡢືࡁ࡟ྜࢃࡏ࡚⌫ࡀ⛣ືࡍ ࡿሙྜ (P_B1 ~ P_B5)㸪⌫ࡀ⛣ືࡋ࡞࠸ሙྜ (P_B6 ~ P_B10) ࢆྵࡵࡓィ 10 ✀㢮ࢆ⏝࠸ࡿ㸦⾲ 2㸧㸬ࡲ ࡓ㸪⌫ࡢ㏿ࡉ࡟㛵ࡍࡿᐇ㦂ࡣ㸪⌫ࡢ኱ࡁࡉࡣ┤ᚄ 45mm ࡟⤫୍ࡋ㸪(P_C1 ~ P_C4) ࡢ 4 ✀㢮ࢆ⏝࠸ ࡓ㸦⾲ 3㸧㸬 ࡇࢀࡽ 2 ࡘࡢᐇ㦂ࡣศࡅ࡚⾜࠸㸪ᐇ㦂 1 ྠᵝ࡟㸪 ྛᐇ㦂ࢆࢧ࣮ࢫࢺࣥࡢ୍ᑐẚ㍑ἲ࡟ᇶ࡙࠸࡚㸪࡝ࡕ ࡽࡀࡼࡾ㔜ࡃឤࡌࡓ࠿ࢆẚ㍑࣭ᅇ⟅ࡉࡏࡿ㸬⿕㦂⪅ ࡣᡂே 11 ྡ㸦⏨ᛶ 9 ྡ㸪ዪᛶ 2 ྡ㸧㸪ヨ⾜ᅇᩘࡣ 1 ྡ࠶ࡓࡾ 10C2=45 ᅇ࡛࠶ࡿ㸬࡞࠾㸪ᐇ㦂ᡭ㡰ࡣᐇ㦂 1 ࡜ྠᵝࡔࡀ㸪ᐇ㦂 2 ࡟㛵ࡋ࡚ࡣ㸪⌫ࡢ኱ࡁࡉ࡟㛵 ࡍࡿᐇ㦂࡛ࡣ㸪ࠕ10 ✀㢮ࡢᥦ♧ࣃࢱ࣮ࣥࡢ࠺ࡕ㸪2 ✀㢮ࢆࣛࣥࢲ࣒࡟㑅ฟࡍࡿࠖ࡟ኚ᭦ࡍࡿ㸬ࡲࡓ㸪ྠ ᵝ࡟⌫ࡢ㏿ࡉ࡟㛵ࡍࡿᐇ㦂ࡣ㸪 ࠕ4 ✀㢮ࡢᥦ♧ࣃࢱ࣮ ࣥࡢ࠺ࡕ㸪2 ✀㢮ࢆࣛࣥࢲ࣒࡟㑅ฟࡍࡿࠖ࡟ኚ᭦ࡍ ࡿ㸬㻡㻚㻟 ᐇ㦂⤖ᯝ ⌫ࡢ኱ࡁࡉ࡟㛵ࡍࡿᐇ㦂ࡢ⤖ᯝࢆᅗ 㻢䠈⌫ࡢ㏿ࡉ ࡟㛵ࡍࡿᐇ㦂ࡢ⤖ᯝࢆᅗ 㻣 ࡟♧ࡍ㸬ᅗ୰ࡢᩘ┤⥺ࡣ㸪 ᐇ㦂 1 ࡜ྠᵝ࡟⿕㦂⪅ࡀ㔜ࡉ࡟ᑐࡍࡿᚰ⌮ᑻᗘࢆ♧ ࡋ࡚࠸ࡿ㸬ᐇ㦂ࡢ⤖ᯝ࠿ࡽ㸪௨ୗࡢࡇ࡜ࡀศ࠿ࡿ㸬 (i) ⌫ࡢ኱ࡁࡉ࡟㛵ಀ࡞ࡃ㸪⌫ࡀ⛣ືࡍࡿ᮲௳ࡢ᪉ ࡀᢕᣢ≀యࢆ㍍ࡃ▱ぬࡋࡓ (ii) 㐠ື≧ែࡀྠࡌ᮲௳࡛ࡣ㸪⌫ࡀᑠࡉ࠸࡯࡝ᢕᣢ ≀యࢆ㍍ࡃ▱ぬࡋࡓ (iii) ⌫ࡢ⛣ືࡀ㐜࠸࡯࡝㸪ᢕᣢ≀యࢆ㔜ࡃ▱ぬࡋࡓ ࡲࡓ㸪࣎ࣥࣇ࢙࣮ࣟࢽἲ࡟ࡼࡾࡍ࡭࡚ࡢヨ⾜ࣃࢱ ࣮ࣥ࠿ࡽ᭷ពỈ‽ 1%ࡢᕪࡀぢࡽࢀࡓࡇ࡜࠿ࡽ⌫ࡢ ኱ࡁࡉࡀ㔜ࡉ▱ぬ࡟ᙳ㡪ࢆ୚࠼ࡿࡇ࡜ࢆ☜ㄆࡋࡓ ⓒ 2017 Information Processing Society of Japan. -2.5. -2. -1.5. -1. 㔜䛔. -0.5. 0. ኱䛝䛔. 0.5. 1. 1.5. 2. 2.5 ㍍䛔. ᑠ䛥䛔. 䝪䞁䝣䜵䝻䞊䝙ἲ䜘䜚㻖㻖㻌㻦㻌㼜㻌㻨㻌㻜㻚㻜㻝. ᅗ 㻢 ᐇ㦂 2 ࡢ⤖ᯝ㸦኱ࡁࡉ㸧 Fig.6 Result of Experiment 2 (Size) 㻖㻖. 㻖㻖. 㻼㼋㻯㻝. -2.5. -2. -1.5. 㻼㼋㻯㻞. -1. -0.5. 㻖㻖㻼㼋㻯㻟. 0. 0.5. 㻼㼋㻯㻠. 1. 1.5. 㔜䛔. 2. 2.5 ㍍䛔. 䝪䞁䝣䜵䝻䞊䝙ἲ䜘䜚㻖㻖㻌㻦㻌㼜㻌㻨㻌㻜㻚㻜㻝. ᅗ 㻣 ᐇ㦂 2 ࡢ⤖ᯝ㸦㏿ࡉ㸧 Fig.7 Result of Experiment 2 (Speed). (i) ࡢ ⤖ ᯝ ࡣ 㸪 ⌫ ࡣ ⛣ ື ࡋ ࡞ ࠸ ሙ ྜ (P_B6 ~ P_B10)࡜⌫ࡀ⛣ືࡍࡿሙྜ (P_B1 ~ P_B5) ࡛ࡣ㸪 ⌫ࡢ኱ࡁࡉ࡟㛵ಀ࡞ࡃ⛣ືࡍࡿሙྜࡢ᪉ࢆ㍍ࡃ▱ぬ ࡍࡿࡇ࡜ࡀศ࠿ࡿ㸬ࡲࡓ㸪(ii) ࡢ⤖ᯝࡣ㸪⛣ືࡍࡿ ᮲௳ࡢྛ኱ࡁࡉ࡛ P_B1 ~ P_B5 ࢆẚ㍑ࡍࡿ࡜⌫ࡀ ኱ࡁ࠸᪉ࢆ㔜ࡃឤࡌࡿࡇ࡜ࡀศ࠿ࡿ㸬ࡑࡋ࡚㸪ࡇࡢ ⤖ᯝࡣ⌫ࡀ⛣ືࡋ࡞࠸᮲௳࡟ࡶぢࡽࢀࡿ㸬ࡇࢀࡽࡢ ⤖ᯝࡼࡾ㸪⌫ࡢ኱ࡁࡉࡀᢕᣢ≀యࡢ㔜ࡉ▱ぬ࡟ᙳ㡪 ࢆ୚࠼ࡿࡇ࡜ࡀศ࠿ࡿ㸬ࡇࢀࡣ㸪⌫ࡢ኱ࡁࡉࡀኚࢃ ࡿࡇ࡜࡟ࡼࡾ㸪ࢣ࣮ࢫ඲యࡢᐦᗘࡀኚ໬ࡍࡿࡇ࡜࡟ ㉳ᅉࡋ࡚࠸ࡿྍ⬟ᛶࡀ࠶ࡿ㸬ぢࡓ┠ࡢᐦᗘࡢᙳ㡪ࡀ 㔜ࡉ▱ぬ࡟ᙳ㡪ࢆ୚࠼ࡿࡇ࡜ࡶሗ࿌ࡉࢀ࡚࠾ࡾ㸪㔜 ࡉࢆ␗࡞ࡗ࡚▱ぬࡋ࡚࠸ࡿࡇ࡜ࡀ♧၀ࡉࢀࡿ㸬 (iii) ࡢ⤖ᯝ࡛ࡣ㸪ࡍ࡭࡚ࡢヨ⾜ࣃࢱ࣮ࣥ࠿ࡽ᭷ព Ỉ‽ 1%ࡢᕪࡀぢࡽࢀࡓࡇ࡜࠿ࡽ㸪⌫ࡢ㏿ࡉࡀ㔜ࡉ ▱ぬ࡟ᙳ㡪ࢆ୚࠼ࡿࡇ࡜ࡀศ࠿ࡿ㸬 ࡇࡢ᮲௳࡟ࡘ࠸࡚⿕㦂⪅࠿ࡽࢥ࣓ࣥࢺࢆྲྀࡗࡓ࡜ ࡇࢁࠕ⌫ࡀ⛣ືࡍࡿࡇ࡜࡛ᢕᣢ≀యࢆ᣺ࡾࡸࡍ࠸ࠖ ࡸࠕ⮬㌟ࡢᛮ࠸㏻ࡾ࡟⌫ࡀືࡃࡓࡵ㍍ࡃឤࡌࡿࠖ࡜ ࠸࠺ᅇ⟅ࡀከࡃ࠶ࡗࡓ㸬Pseudo-haptics ࡢ◊✲࡛ࡣ㸪 ⮬㌟ࡢືࡁ࡜㐃ືࡋ࡚࠸ࡿᑐ㇟ࡢ⛣ື㏿ᗘࡀኚ໬ࡍ ࡿࡇ࡜࡛ຊぬࡸ㔜ࡉ▱ぬ࡟ᙳ㡪ࢆ୚࠼ࡿࡇ࡜ࡀ࠶ࡿ ࡜ ሗ ࿌ ࡋ ࡚ ࠸ ࡿ [20, 21] 㸬 ࡇ ࡢ ࡇ ࡜ ࠿ ࡽ 㸪 R-V Dynamics Illusion ࡣ㸪⮬㌟ࡢືࡁ࡜㐃ືࡋࡓ≀య ࡢ㏿ᗘ࡛ゐຊぬ࡟ᙳ㡪ࢆ୚࠼ࡿⅬ࡛㸪 Pseudo-haptics ࡜ྠ㢮ࡢ㘒ぬ⌧㇟࡛࠶ࡿࡇ࡜ࡀ♧ ၀ࡉࢀࡿ㸬. 6.

(8) 情報処理学会研究報告 IPSJ SIG Technical Report. 㻢. Vol.2017-CVIM-205 No.12 2017/1/19. ᐇ㦂㸸⫈ぬ࣭ゐぬ่⃭ࢆ௜୚ࡋࡓ᮲௳ࡀ 59 '\QDPLFV,OOXVLRQ ࡟୚࠼ࡿᙳ㡪. 㻢㻚㻝 ᐇ㦂┠ⓗ ࡇ ࢀࡲ ࡛ࡢ ᐇ㦂 ࠿ࡽ 㸪๛య ᮲௳ ࡟࠾ ࠸࡚ R-V Dynamics Illusion ࡀⓎ⏕ࡍࡿࡇ࡜㸪ࡑࡋ࡚㸪⛣ື ࡢ᭷↓ࡸ⌫ࡢ኱ࡁࡉ࡜࠸ࡗࡓどぬ่⃭ࡢ᮲௳ࡀ㸪㔜 ࡉ▱ぬ࡟ᙳ㡪ࢆ୚࠼ࡿࡇ࡜ࡀศ࠿ࡗࡓ㸬୍᪉㸪ᐇ㝿 ࡟ࢣ࣮ࢫෆ㒊࡛๛యࡀ⛣ືࡍࡿሙྜ㸪⌫యࡀ㌿ࡀࡿ 㝿ࡢ᣺ື㸪ࢣ࣮ࢫෆቨ㠃࡜⌫యࡀ⾪✺ࡍࡿ㝿ࡢ⾪ᧁ ࡸ㡢࡞࡝ࡀ▱ぬࡉࢀࡿ㸬≉࡟≀యྠኈࡢ⾪✺ࡣ㸪⾪ ᧁࡀᙉࡃどぬ่⃭ࡢࡳ࡛⾲⌧ࡍࡿࡇ࡜ࡣ㞴ࡋ࠸㸬 ࡑࡇ࡛㸪ᐇ㦂 3 ࡛ࡣ⾪✺᫬ࡢ༳㇟ࢆ௜୚ࡍࡿ⡆౽ ࡞᪉ἲ࡜ࡋ࡚㸪㡢ࡸ᣺ືࢆᥦ♧ࡍࡿࡇ࡜ ࡛ R-V Dynamics Illusion ࡟୚࠼ࡿᙳ㡪ࢆศᯒࡍࡿ㸬㻢㻚㻞 ᐇ㦂᮲௳࣭ᡭ㡰 ᐇ㦂 3 ࡛ࡣ㸪ᐇ㦂 1 ࡛ᥦ♧ࡋࡓྠᙧ≧ࡢ௬᝿ࢣ࣮ ࢫࢆ฼⏝ࡍࡿ㸬ࡇࡢ࡜ࡁ㸪௬᝿ࢣ࣮ࢫෆ㒊ࡢ⌫ࡢ኱ ࡁࡉࡣ P_B3 (45mm) ࡟⤫୍ࡋࡓ㸬ᥦ♧ࣃࢱ࣮ࣥࡣ㸪 P_D1㸦CG ࡢᥦ♧ࡢࡳ㸧㸪P_D2㸦CG࣭ゐぬ่⃭ࡢ ᥦ♧࠶ࡾ㸧㸪P_D3㸦CG࣭⫈ぬ่⃭ࡢᥦ♧࠶ࡾ㸧㸪P_D4 㸦CG࣭ゐぬ࣭⫈ぬࡢᥦ♧࠶ࡾ㸧ࡢィ 4 ✀㢮ࢆ⏝࠸ ࡿ㸦⾲ 4㸧㸬ࡑࡋ࡚㸪ࡇࡢ 4 ✀㢮࠿ࡽ 2 ✀㢮ࢆࣛࣥࢲ ࣒࡟㑅ฟࡋ㸪ࢧ࣮ࢫࢺࣥࡢ୍ᑐẚ㍑ἲ࡟ᇶ࡙࠸࡚㸪 ࡝ࡕࡽࡀࡼࡾ㔜ࡃឤࡌࡓ࠿ࢆẚ㍑࣭ᅇ⟅ࡉࡏࡿ㸬⿕㦂⪅ࡣᡂே 11 ྡ㸦⏨ᛶ 9 ྡ㸪ዪᛶ 2 ྡ㸧㸪ヨ⾜ᅇᩘ ࡣ 1 ྡ࠶ࡓࡾ 4C2=6 ᅇ࡛࠶ࡿ㸬࡞࠾㸪ᐇ㦂ᡭ㡰ࡣᐇ 㦂 1 ࡜ྠᵝ࡛㸪(2) ࡀࠕ4 ✀㢮ࡢᥦ♧ࣃࢱ࣮ࣥࡢ࠺ ࡕ㸪2 ✀㢮ࢆࣛࣥࢲ࣒࡟㑅ฟࡍࡿࠖ࡟ኚࢃࡿࡔࡅ࡛ ࠶ࡿ㸬㻢㻚㻟 ᐇ㦂⤖ᯝ ᐇ㦂 3 ࡢ⤖ᯝࢆᅗ 㻤 ࡟♧ࡍ㸬ᅗ୰ࡢᩘ┤⥺ࡣ㸪ᐇ 㦂 1 ࡜ྠᵝ࡟⿕㦂⪅ࡢ㔜ࡉ࡟ᑐࡍࡿᚰ⌮ᑻᗘࢆ♧ࡋ ࡚࠸ࡿ㸬ᐇ㦂 3 ࡢ⤖ᯝ࠿ࡽ㸪௨ୗࡢࡇ࡜ࡀࢃ࠿ࡿ㸬 (i) どぬ่⃭࡟⫈ぬ่⃭ࢆ௜୚ࡍࡿࡇ࡜࡛ᢕᣢ≀ యࢆ᭱ࡶ㍍ࡃ▱ぬࡋࡓ (ii) どぬ่⃭࡟ゐぬ่⃭ࢆ௜୚ࡍࡿࡇ࡜࡛ᢕᣢ≀ యࢆ᭱ࡶ㔜ࡃ▱ぬࡋࡓ (iii) どぬ่⃭ࡢࡳࡢ᮲௳࡜どぬ่⃭࡟ゐぬ࣭⫈ぬ่ ⃭ࢆྠ᫬࡟௜୚ࡋࡓ᮲௳࡛ࡣ᭷ពᕪࡀࡳࡽࢀ ࡞࠿ࡗࡓ (i) ࡛ࡣ㸪P_D3㸦CG࣭⫈ぬ่⃭ࡢᥦ♧࠶ࡾ㸧ࡀ௚ ࡢ᮲௳ࡼࡾࡶᢕᣢ≀యࢆ㍍ࡃ▱ぬࡋࡓ࡜࠸࠺ᅇ⟅ࡀ ከ࠸ࡇ࡜㸪ࡑࡋ࡚࣎ࣥࣇ࢙࣮ࣟࢽἲࡼࡾ඲࡚ࡢヨ⾜ ࣃࢱ࣮ࣥࡼࡾ 5%௨ୗࡢ᭷ពᕪࡀ࠶ࡿࡇ࡜࠿ࡽ㸪ᮏ ᐇ㦂࡛ࡢ⫈ぬ่⃭࡛ࡣ㸪ᢕᣢ≀యࢆ㍍ࡃ▱ぬࡉࡏࡿ ࡇ࡜ࡀศ࠿ࡗࡓ㸬 (ii) ࡛ࡣ㸪P_D2㸦CG࣭ゐぬ่⃭ࡢᥦ♧࠶ࡾ㸧ࡢ ሙྜ࡟௚ࡢ᮲௳ࡼࡾࡶᢕᣢ≀యࢆ㔜ࡃ▱ぬࡋࡓ㸬ࡲ. ⓒ 2017 Information Processing Society of Japan. 㻖㻖㻖. 㻖㻼㼋㻰㻞. -2. -1.5. -1. 㻼㼋㻰㻝. -0.5. 㻼㼋㻰㻟. 㻼㼋㻰㻠. 0. 0.5. 1. 㔜䛔䝪䞁䝣䜵䝻䞊䝙ἲ䜘䜚㻖㻌㻦㻌㼜㻌㻨㻌㻜㻚㻜㻝㻖㻖㻌㻦㻌㼜㻌㻨㻌㻜㻚㻜㻡㻌㻌. 1.5. 2 ㍍䛔. ᅗ 㻤 ᐇ㦂 3 ࡢ⤖ᯝ Fig.8 Result of Experiment 3. ࡓ㸪࣎ࣥࣇ࢙࣮ࣟࢽἲࡼࡾ㸪P_D3㸦CG࣭⫈ぬ่⃭ ࡢᥦ♧࠶ࡾ㸧㸪P_D4 ࠿ࡽࡣ 5%௨ୗࡢ᭷ពᕪࡀࡳࡽ ࢀ㸪P_D1㸦CG ࡢࡳࡢᥦ♧㸧࠿ࡽࡣ᭷ពᕪࡣぢࡽࢀ ࡞࠸ࡀ㔜ࡃ▱ぬࡍࡿഴྥ࡟࠶ࡿ㸪ࡑࡢࡓࡵᮏᐇ㦂ࡢ ᣺ື่⃭࡛ࡣ㸪ᢕᣢ≀యࢆ㔜ࡃ▱ぬࡉࡏࡿᙳ㡪ࢆ୚ ࠼ࡿࡇ࡜ࡀศ࠿ࡗࡓ㸬 P_D2㸪P_D3 ࡢ⤖ᯝࢆ㸪ศᯒࡍࡿ࡭ࡃࢥ࣓ࣥࢺࢆ ᩚ⌮ࡋศ㢮ࡋࡓ࡜ࡇࢁ㸪P_D2㸦CG࣭ゐぬ่⃭ࡢᥦ ♧࠶ࡾ㸧࡛ࡣ㸪ࠕ᣺ືࡍࡿࡇ࡜࡛⌫ࡢ⛣ືឤࡀቑࡍࠖ ࠕ㔜ᚰࡢ఩⨨ࡀኚ໬ࡍࡿࠖࠕ㐲ᚰຊࡀ࠶ࡿឤࡌࡀࡍ ࡿࠖ࡞࡝ゐຊぬ࡟㛵ࡍࡿࢥ࣓ࣥࢺࡀከ࠿ࡗࡓ㸬୍᪉㸪 P_D3㸦CG࣭⫈ぬ่⃭ࡢᥦ♧࠶ࡾ㸧࡛ࡣ㸪 ࠕ⾪✺㡢࡟ ࡼࡗ࡚⌫ࡀᅛࡃ࡚㍍࠸≀య࡟ឤࡌࡿࠖ࡞࡝௬᝿≀య ࡢ⣲ᮦ࡟㛵ࡍࡿᅇ⟅ࡀከ࠿ࡗࡓ㸬ࡇࢀࡽࡢࢥ࣓ࣥࢺ ࠿ࡽྠࡌ㡢※࡛࠶ࡗ࡚ࡶ㸪⫈ぬ่⃭࡜ゐぬ่⃭࡛ࡣ ᙳ㡪ࢆ୚࠼ࡿ▱ぬࡀ␗࡞ࡿࡇ࡜ࡀ⪃࠼ࡽࢀࡿ㸬ලయ ⓗ࡟ࡣ㸪⫈ぬ่⃭ࡣ㸪ࢣ࣮ࢫෆࡢ≀యࡢ⣲ᮦឤ࡟ᙳ 㡪ࢆ୚࠼㸪ゐぬ่⃭ࡣࢣ࣮ࢫෆࡢ≀యࡢ⛣ືឤࡸ㔜 ᚰ࡟ᙳ㡪ࢆ୚࠼࡚࠸ࡿྍ⬟ᛶࡀ♧၀ࡉࢀࡿ㸬 ୍᪉㸪(iii) ࡛ࡣ㸪P_D1 ࡜ P_D4 ࢆ࣎ࣥࣇ࢙࣮ࣟ ࢽἲ࡛ẚ㍑ࡋ࡚ࡶ᭷ពᕪࡀࡳࡽࢀ࡞࠿ࡗࡓ㸬⿕㦂⪅ ࡢࢥ࣓ࣥࢺ࡛ࡣ㸪P_D4 ࡢ᮲௳ࡀ᭱ࡶࠕࢣ࣮ࢫࡢ୰ ࡟≀యࡀධࡗ࡚࠸ࡿឤࡌࡀ࠶ࡿࠖ࡜࠸࠺ពぢࡀከࡃ㸪ゐぬ่⃭ࡸ⫈ぬ่⃭ࢆྠ᫬࡟ᥦ♧ࡍࡿࡇ࡜࡟ࡼࡗ࡚㸪 ෆ㒊ࡢࣜ࢔ࣜࢸ࢕⮬యࡣྥୖࡋ࡚࠸ࡿᵝᏊࡀఛ࠼ࡿ㸬 (i)(ii) ࡢ⤖ᯝ࡛ࡣ㸪どぬ่⃭࡟ᑐࡋ࡚㸪ゐぬ่⃭ࢆ ௜୚ࡋࡓሙྜ࡟ࡣ㔜ࡃ㸪⫈ぬ่⃭ࢆ௜୚ࡋࡓሙྜ࡟ ࡣ㍍ࡃ▱ぬࡋࡓ㸬ࡇࢀ࡟ᑐࡋ࡚㸪ࡇࢀࡽࢆྠ᫬࡟௜ ୚ࡋࡓሙྜ㸪┦஫ࡢస⏝ࡀᡴࡕᾘࡋ࠶࠸㸪ᚑ᮶ࡢどぬ่⃭ࡢࡳࡢሙྜ࡜ࡣ᭷ពᕪࡀぢࡽࢀ࡞ࡃ࡞ࡗࡓࡇ ࡜ࡀ⪃࠼ࡽࢀࡿ㸬 ௒ᅇࡢᐇ㦂࡛࡞ࡐ⫈ぬ่⃭ࡀ㍍ࡃ㸪᣺ື่⃭ࡀ㔜 ࡃ▱ぬࡉࢀࡓࡢ࠿㸬ᐇ㦂࡛౑⏝ࡋࡓ⾪✺㡢ࡣ㸪࢔ࢡ ࣜࣝ࡜㗰⌫ࡀ⾪✺ࡋࡓ㝿ࡢ㡢࡛࠶ࡾ㸪ࡇࡢ㡢ࡣ㧗ࡃ ஝࠸ࡓ⾪✺㡢࡛࠶ࡿࡓࡵ㸪⿕㦂⪅࠿ࡽࡣࠕᅛࡃ࡚㍍ ࠸⌫ࡀ⾪✺ࡋࡓ㡢ࠖ࡜ࡢពぢࡀከ࠿ࡗࡓ㸬⿕㦂⪅ࡣ ࠕ㍍ࡑ࠺࡞⌫ࠖ࡜ㄆ㆑ࡋ㸪㍍ࡃ▱ぬࡋࡓࡇ࡜ࡀ♧၀ ࡉࢀࡿ㸬୍᪉㸪᣺ື่⃭࡛ࡣ㸪⾪✺㡢࡜ྠࡌ㡢ࢆ᣺. 7.

(9) 情報処理学会研究報告 IPSJ SIG Technical Report. ᪥ᮏ䝞䞊䝏䝱䝹䝸䜰䝸䝔䜱Ꮫ఍㻌」ྜ⌧ᐇឤ◊✲఍. ືࢫࣆ࣮࢝ࡼࡾ෌⏕ࡋ࡚࠸ࡿࡀ㸪ࢥ࣓ࣥࢺ࠿ࡽࡣ㸪 ⌫ࡢ⣲ᮦࡢㄆ㆑ࡼࡾࡶ⛣ືឤࡸ⾪✺ឤࡢ▱ぬ࡟ᙳ㡪 ࢆ୚࠼࡚࠸ࡿࡇ࡜ࡀࢃ࠿ࡿ㸬ࡼࡗ࡚㸪ゐぬ่⃭ࢆຍ ࠼ࡿࡇ࡜࡟ࡼࡗ࡚⛣ືឤ࠿ࡽࡃࡿ㐲ᚰຊࡸ⾪✺ឤࡢ ࡼ࠺࡞␲ఝⓗ࡞እຊࢆឤࡌ㸪㔜ࡃ▱ぬࡋࡓࡢ࡛ࡣ࡞ ࠸࠿࡜⪃࠼ࡽࢀࡿ㸬㻣 ࡴࡍࡧ ᮏ◊✲࡛ࡣ㸪≀యෆ㒊ࡢ๛యࡢ⛣ືࢆ᝿㉳ࡉࡏࡿ MR ᆺどぬ่⃭ࡀ R-V Dynamics Illusion ࡟୚࠼ࡿ ᙳ㡪ࢆ☜ㄆࡋ㸪௬᝿ࡢ๛య࡟ᑐࡋ࡚᣺ື࣭⫈ぬ่⃭ ࢆ௜୚ࡋ㸪⾪✺ឤࢆᥦ♧ࡋࡓሙྜ㸪ྠ㘒ぬ⌧㇟࡟୚ ࠼ࡿᙳ㡪ࢆศᯒࡋࡓ㸬 ᐇ㦂⤖ᯝࡢ⤖ᯝ㸪௨ୗࡢࡼ࠺࡞▱ぢࡀᚓࡽࢀࡓ㸬 (a) ≀యෆ㒊ࡢ๛యࡢ⛣ືࢆ᝿㉳ࡉࡏࡿ MR ᆺどぬ ่⃭ࢆ㔜␚ᥥ⏬ࡍࡿࡇ࡜࡛ඛ⾜◊✲࡜ྠᵝ࡟ ᢕᣢ≀యࢆ㍍ࡃ▱ぬࡋࡓ㸬ࡇࡢ⤖ᯝࡼࡾ๛యࡢ ⛣ືࢆ᝿㉳ࡉࡏࡿ MR ᆺどぬ่⃭࡟ࡼࡗ࡚ࡶ R-V Dynamics Illusion ࡀⓎ⏕ࡍࡿࡇ࡜ࡀ♧ࡉ ࢀࡓ (b) 㔜␚ᥥ⏬ࡍࡿ⌫ࡢ኱ࡁࡉࡣ㸪R-V Dynamics Illusion ࡟ᙳ㡪ࢆ୚࠼㸪ᢕᣢ≀యࡢ␗࡞ࡗࡓ㔜 ࡉ࡟▱ぬࡋࡓ (c) ⌫࡟ᑐࡋ࡚᣺ືࡸ⾪✺㡢ࢆ௜୚ࡍࡿࡇ࡜࡛㸪⾪ ✺ឤࡀቑࡋ㸪R-V Dynamics Illusion ࡟ᙳ㡪ࢆ ୚࠼㸪ᢕᣢ≀యࡢ␗࡞ࡗࡓ㔜ࡉ࡟▱ぬࡋࡓ ࡇࢀࡽࡢ▱ぢ࠿ࡽ㸪R-V Dynamics Illusion ࡣ㸪 ᾮయࡔࡅ࡛࡞ࡃ⛣ື᫬ࡢ᣺ືࡸ⾪ᧁ࡞࡝ࡢ༳㇟ࡀ኱ ࡁ࠸๛యࡢ௬᝿≀య࡛ࡶⓎ⏕ࡍࡿࡇ࡜ࡀศ࠿ࡗࡓ㸬 ࡑࡋ࡚㸪ෆ㒊ࡢ㐠ືࢆ᝿㉳ࡉࡏࡿ௬᝿≀య࡟ᑐࡋ࡚㸪 ⫈ぬ࣭ゐぬ่⃭ࢆ௜୚ࡋ㸪どぬ࡜┦஫࡟స⏝ࡉࡏࡿ ࡇ࡜࡛ྠ㘒ぬ⌧㇟࡟ᙳ㡪ࢆ୚࠼ゐ▱ぬࡀኚ໬ࡍࡿࡇ ࡜ࢆ᫂ࡽ࠿࡟ࡋࡓ㸬ࡇࢀࡽࡢ▱ぢࡣ㸪ேࡢ㔜ࡉ▱ぬ ࡸከឤぬ┦஫స⏝ࢆ⪃៖ࡋࡓ MR సရࡸ〇ရ㸪ࢹࣂ ࢖ࢫタィࢆ⾜࠺㝿ࡢά⏝࡟ࡶᮇᚅ࡛ࡁࡿ㸬 ࡲࡓ㸪௬᝿≀య࡟ᑐࡋ࡚ゐぬ࣭⫈ぬ่⃭ࢆ௜୚ࡍ ࡿࡇ࡜࡛ R-V Dynamics Illusion ࡟ᮏ᮶ࡢ㘒ぬ௨ୖ ࡢຠᯝࡸ␗࡞ࡿゐ▱ぬࢆᚓࡽࢀࡿྍ⬟ᛶࡀ♧၀ࡉࢀ ࡓ㸬 ୍᪉㸪ゐぬ่⃭ࡸ⫈ぬ่⃭ࡀྠ㘒ぬ⌧㇟࡟ᙳ㡪ࢆ ୚࠼ࡿࣃ࣓࣮ࣛࢱ࡜ࡋ࡚㡢㔞ࡢ኱ࡁࡉࡸ࿘Ἴᩘࡢ㧗 ࡉ࡞࡝ᵝࠎ࡞せᅉࡀ⪃࠼ࡽࢀࡿ㸬௒ᅇࡢᐇ㦂ࡼࡾ㸪㡢ࡸゐឤࢆኚ᭦ࡍࡿࡇ࡜࡛௬᝿≀యࡢ⣲ᮦឤࡸ⛣ ື࣭⾪✺ឤ࡞࡝ࡢゐຊぬࡢ▱ぬ࡟ᙳ㡪ࢆ୚࠼㸪R-V Dynamics Illusion ࡢ▱ぬࡀኚ໬ࡍࡿྍ⬟ᛶࡀ࠶ࡿ ࡇ࡜ࡀ♧၀ࡉࢀࡓ㸬 ࡼࡗ࡚㸪௒ᚋࡣ㸪⾪✺㡢ࡸ᣺ືࡢࣃ࣓࣮ࣛࢱࢆኚ ໬ࡉࡏࡿࡇ࡜࡛ྠ㘒ぬ⌧㇟࡟࡝ࡢᵝ࡞ᙳ㡪ࢆ୚࠼ࡿ ࡢ࠿ᐇ㦂ࡋ࡚࠸ࡃ࡜ඹ࡟㸪ᥦ♧ࡍࡿ㡢※ࡢ✀㢮ࡸ᣺ ືࡢᙉᗘࢆኚ࠼ࡿࡇ࡜࡛ゐ▱ぬ࡟୚࠼ࡿᙳ㡪࡟ࡘ࠸. ⓒ 2017 Information Processing Society of Japan. Vol.2017-CVIM-205 No.12 2017/1/19. Vol. 20, No.1, 2017. ࡚ࡉࡽ࡟ᐇ㦂࣭ศᯒࡋ࡚࠸ࡃணᐃ࡛࠶ࡿ㸬 ㅰ㎡ ᮏ◊✲ࡢ୍㒊ࡣ㸪⛉◊㈝࣭ᇶ┙◊✲ Bࠕ」ྜ⌧ᐇ ᆺどぬ่⃭࡟ࡼࡿ R-V Dynamics Illusion ࡢ◊✲ࠖ ࡟ࡼࡿ㸬 ཧ⪃ᩥ⊩ [1]. [2]. [3]. [4]. [5]. [6]. [7]. [8]. [9]. [10]. [11]. [12]. [13]. ኱ᵳ㯞⾰㸪ᮌᮧᮅᏊ㸪すᾆᩗಙ㸪ᰘ⏣ྐஂ㸪⏣ᮧ⚽⾜㸸 ͆」 ྜ⌧ᐇ✵㛫࡜ࡢ᪂ࡋ࠸࣐ࣝࢳ࣮ࣔࢲ࣭ࣝ࢖ࣥࢱࣛࢡࢩࣙࣥ ᪉ἲࡢᥦ᱌࡜ᐇ⌧͇ 㸪᪥ᮏࣂ࣮ࢳࣕࣝࣜ࢔ࣜࢸ࢕Ꮫ఍ㄽᩥㄅ Vol. 13, No. 2, pp. 247 - 255, 2008. బ㔝ὒᖹ㸪ᶫཱྀဴᚿ㸪ᰘ⏣ྐஂ㸪ᮌᮧᮅᏊ㸸“ືⓗ࡟ ኚ໬ࡍࡿ」ྜ⌧ᐇᆺどぬ่⃭ࡀ㔜ࡉ▱ぬ࡟୚࠼ࡿᙳ 㡪”㸪᪥ᮏࣂ࣮ࢳࣕࣝࣜ࢔ࣜࢸ࢕Ꮫ఍ㄽᩥㄅ, Vol. 19, No. 2, pp. 255 - 264, 2014. A. Lecuyer, S. Coquillart, A. Kheddar, P. Richard and P. Coiffet: “Pseudo-haptic feedback: can isometric input devices simulate force feedback?,” Proc. IEEE Virtual Reality, pp. 83 - 90, 2000. A. Iesaki, A. Somada, A. Kimura, F. Shibata, and H. Tamura: “Psychophysical influence on tactual impression by mixed-reality visual stimulation,” Proc. Virtual Reality 2008, pp. 265 - 267, 2008. Y. Hirano, A. Kimura, F. Shibata, and H. Tamura: “Psychophysical influence of mixed-reality visual stimulation on sense of hardness,” Proc. Virtual Reality 2011, pp. 51 - 54, 2011. ᮌᮧᮅᏊ㸪᮴⏣᫂ᘯ㸪㠃㏕ᏹᶞ㸪ᰘ⏣ྐஂ㸪⏣ᮧ⚽⾜㸸 “Shape-COG Illusion㸸」ྜ⌧ᐇឤయ㦂᫬ࡢどぬ่⃭࡟ ࡼࡿ㔜ᚰ▱ぬࡢ㘒ぬ⌧㇟”㸪᪥ᮏࣂ࣮ࢳࣕࣝࣜ࢔ࣜࢸ ࢕Ꮫ఍ㄽᩥㄅ㸪Vol. 16, No. 2, pp. 261 - 269, 2011. H. Omosako, A. Kimura, F. Shibata, and H. Tamura: “Shape-COG Illusion: Psychophysical influence on center-of-gravity perception by mixed-reality visual stimulation,” Proc. Virtual Reality 2012, pp. 65 - 66, 2012. Y. Kataoka, S. Hashiguchi, F. Shibata, and A. Kimura: “R-V Dynamics Illusion: Psychophysical phenomenon caused by the difference between dynamics of real object and virtual object,” Proc. The 25th Int. Conf. on Artificial Reality and Telexistence and the 20th Eurographics Symp. on Virtual Environments, pp. 133 - 140, 2015. ∦ᒸభኴ㸪すᕝṌᮍ㸪ᶫཱྀဴᚿ㸪ᰘ⏣ྐஂ㸪ᮌᮧᮅᏊ㸸 “ 」 ྜ ⌧ ᐇ ⎔ ቃ ୗ ࡛ ࡢ R-V Dynamics Illusion ࡜ Size-Weight Illusion ࡢ┦஫స⏝”㸪ࣄ࣮࣐ࣗࣥ࢖ࣥࢱࣇ ࢙࣮ࢫᏛ఍ㄽᩥㄅ, Vol. 18, No. 3, pp. 177 - 186, 2016. A. Lecuyer, J. M. Burkhardt, S. Coquillart, and P. Coiffet: “Boundary of illusion”: an experiment of sensory integration with a pseudo-haptic system,” Proc. Virtual Reality 2001, pp. 115 - 122, 2001. K. V. Mensvoort, P. Vos, D. J. Hermes, and R. V. Liere: “Perception of mechanically and optically simulated bumps and holes,” Applied Perception, Vol. 7, No. 10, 2010. F. Argelaguet, D. A. G. Jáuregui, M. Marchal, and A. Lécuyer: “Elastic Images: Perceiving local elasticity of images through a novel pseudo-haptic deformation effect,” Applied Perception, Vol. 10, No. 17, 2013. H. Yano, H. Igawa, T. Kameda, K. Muzutani and H. Iwata: “AudioHaptics: audio and haptic rendering based on a physical model,” Proc. HAPTICS’04 Proceedings of the 12th international conference on Haptic interfaces for. 8.

(10) 情報処理学会研究報告 IPSJ SIG Technical Report. [14]. [15] [16]. [17]. [18]. [19]. [20]. [21]. Vol.2017-CVIM-205 No.12 2017/1/19. virtual environment and teleoperator systems, pp. 250 - 257, 2004. T. H. Massie and J. K. Salislury: “The PHANTOM Haptic Interface㸸 A Device for Probing Virtual Objects,” Proc. 3rd Symp. On Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 295 - 300㸪 1994. M. Sato: “SPIDAR and Virtual Reality,” Proceedings of the 5th Biannual World Automation Congress, Vol 13, pp. 17 - 23, 2002. 㯮⏣჆ᏹ㸪௰㇂ṇྐ㸪㛗㇂ᕝᬗ୍㸪⸨⏣Ḡஓ㸸 ͆≀⌮ ⓗ่⃭࡟ᇶ࡙ࡃ␲ఝຊぬࡢᥦ♧࡜ィ⟬࡟㛵ࡍࡿ◊✲ ືྥ͇㸪᪥ᮏࣂ࣮ࢳࣕࣝࣜ࢔ࣜࢸ࢕Ꮫ఍ㄽᩥㄅ, Vol. 16, No. 3, pp. 379 - 390, 2011. ௰㇂ṇྐ㸪⟍ᗣ᫂㸪༡⃝Ꮥኴ㸪୕ཎ⪽୍㑻㸪⯓ᬿ䠖䇾ゐ ឤ⾲⌧䛾୍⯡ᬑཬ䛻ྥ䛡䛯᪉ἲㄽ䛸䝔䜽䝍䜲䝹䝽䞊䜽䝅䝵䝑䝥䜢㏻䛧䛯䛭䛾ᐇ㊶䇿䠈᪥ᮏ䝞䞊䝏䝱䝹䝸䜰䝸䝔䜱Ꮫ఍ ㄽᩥㄅ䠈Vol. 19, No. 4, pp. 593 - 603, 2014. T. Tanabe, H. Yano and H. Iwata: “Properties of proprioceptive sensation with a vibration speaker–type non - grounded haptic interface," Haptic Symposium (HAPTICS), pp. 21 - 26, 2016. 㬆ᾏᣅᚿ㸪క♸ᶞ㸪⸨஭㐩ஓ㸪Ḉ஭⩧㸪஭ᮧ⣧㸪㇂ᕝᬛὒ㸪ᘅ℩㏻Ꮥ㸸 ͆ᣑᙇᣢஂຊ㸸ᣑᙇ⌧ᐇឤࢆ฼⏝ ࡋࡓ㔜㔞▱ぬ᧯స࡟ࡼࡿຊసᴗᨭ᥼͇ 㸪᪥ᮏࣂ࣮ࢳࣕࣝ ࣜ࢔ࣜࢸ࢕Ꮫ఍ㄽᩥㄅ㸪Vol. 17, No. 4, pp. 333 - 342, 2012. L. Dominjon, A. Lecuyer, J. M. Burkhardt, P. Richard, and S. Richir: “Influence of color/display ratio on the perception of mass of manipulated objects in virtual environments,” Proc. Virtual Reality 2005, pp. 19 - 25, 2005. T. Yuki, Y. Ban, T. Narumi, T. Tanikawa, and M. Hirose: “Controlling fatigue while liffting objects using Pseud-haptics in a mixed reality space,” IEEE Haptics Symposium, pp. 175 - 180, 2014.. ⓒ 2017 Information Processing Society of Japan. 9.

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