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Full dive VR interface without actual body motion
　In current virtual reality (VR) systems that use motion capture, the movements of the virtual body are limited to those that can be performed by the real body. For example, when manipulating a virtual body that differs in scale from the real body, some movements may interfere with the real body. Additionally, movements beyond the joint range of motion cannot be performed in the virtual space. Therefore, we have proposed the concept of "Motion-Less VR," an immersive VR interface that does not require movement of the real body. We are currently working on various research projects within this framework with the aim of expanding the possibilities of embodiment.
　Motion-Less VR is realized by acquiring motion intentions and presenting sensory information according to those intentions under motion suppression of the actual body. In the figure on the right, Motion-Less VR is applied to the index finger. The system uses a sensor to acquire the force generated when the user tries to move the finger, interprets the motion intention in a mechanics-based manner, and presents the visual information using an HMD (Head Mounted Display). Evaluation experiments of the system have confirmed that the operability of the system is similar to that of commercially available hand-tracking devices.
　The joints in the dynamic model used in Motion-Less VR are given viscoelastic properties to stabilize motion and express the range of motion. Through experiments, we investigate the user's ability to adapt to changes in viscoelastic properties. Motion-Less VR assumes that the user's body is immobilized. On the other hand, the body's structure makes how muscles exert force differently depending on joint angles. Therefore, it is necessary to convert the user's motion intention according to the fixed posture of the actual body into an appropriate form as an input signal for the virtual body. We are studying a method based on human characteristics and structure for this conversion.
　Moreover, in Motion-less VR, the tactile sensation is presented to humans by electrical stimulation. Electrical stimulation directly fires the nerves of the mechanoreceptors to give tactile sensations to humans without force sense. Each of the four mechanoreceptors receives different stimuli, and the integration of the obtained stimuli gives the human judges what kind of tactile sensation. Therefore, we aim to present humans with various tactile sensations by realizing a system that uses electrical stimulation based on this principle to stimulate each receptor separately. We are currently working on giving the frictional sense obtained when coming into contact with an object, especially focussing on giving the sensation to the sole as a key issue for walking.


研究業績

中村壮亮, "VRにおける身体没入に向けた課題とMotion-Less VRの取り組み"
日本知能情報ファジィ学会誌, Vol. 33, No. 3, pp. 13-20, 2021.8. （解説）


井口 純志, 望月 典樹, 今永 尚志, 大谷 拓也, 中村 壮亮
"経皮電気刺激による足裏への摩擦感提示の基礎検討"
ロボティクスメカトロニクス講演会2021, 1P3-I12, 2021.6, オンライン


望月 典樹, 中村 壮亮
"Motion-Less VRの研究：上肢多関節運動の実現に向けた基礎開発"
第21回計測自動制御学会システムインテグレーション部門講演会, 2D1-04, 2020.12, オンライン


望月 典樹, 中村 壮亮
"リアル身体の運動を伴わない身体没入型VRインタフェース「Motion-Less VR」の実現に向けて"
第70回サイバースペースと仮想都市研究会, 日本バーチャルリアリティ学会研究報告, Vol.25, No.CS-2, pp. 133-135, 2020.10, オンライン（受賞講演）


望月 典樹, 中村 壮亮
"Motion-Less VRの研究：二軸性関節における運動意図の取得に向けた基礎開発"
第25回日本バーチャルリアリティ学会大会, 3C1-3, 2020.9, オンライン


今永 尚志, 望月 典樹, 大谷 拓也, 中村 壮亮
"Motion-Less VR：リアル身体とバーチャル身体の姿勢相違を考慮した運動意図取得手法に関する基礎検討"
第25回日本バーチャルリアリティ学会大会, 3C1-3, 2020.9, オンライン


小山 千皓, 望月 典樹, 中村 壮亮
"Motion-Less VRの研究：バーチャル腕における肘関節の粘弾性変化に対するユーザの適応能力の調査"
第25回日本バーチャルリアリティ学会大会, 1D3-7, 2020.9, オンライン


中井 凜太郎, 望月 典樹, 中村 壮亮
"Motion-Less VRの研究：頭部の設計とVR酔いに関する事前検討"
第25回日本バーチャルリアリティ学会大会, 2C1-5, 2020.9, オンライン


N. Mochizuki, S. Nakamura
"Development of Immersive VR Interface of Finger Motion without Restriction of Real Environment"
The 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), WePS2.69, 2019.


望月 典樹, 今永 尚志, 小山 千皓, 中村 壮亮
"Motion-Less VR: リアル身体の運動を必要としない身体没入型VRインタフェースに関する基礎検討​​"
日本バーチャルリアリティ学会 第22回サイバースペースと仮想都市研究会シンポジウム​​, 日本バーチャルリアリティ学会研究報告, Vol.24, NO.CS-4, pp.13-14, 東京


望月 典樹, 中村 壮亮
"Motion-Less VR: リアル身体の運動を必要としない全身没入型VRインタフェース"
第24回日本バーチャルリアリティ学会大会, 6B-09, 2019.9, 東京





Researcher
tamura seiichiro

M2
Seiichiro Tamura

yanagisawa eito

M2
Eito Yanagisawa

arnold prajna

M1
Arnold Prajna

mishima soma

M1
Soma Mishima

doi kojiro

M1
Kojiro Doi

suzuki koki

M1
Koki Suzuki

taichi ito

B4
Taichi Ito

yuki kumagai

B4
Yuki Kumagai