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An Investigation of the Velvet Hand Illusion Using Computational

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An Investigation of the Velvet Hand Illusion Using Computational ! "#!$#%&'()*+(),#!,-!(.&!/&0%&(!1+#2! $003'),#!4')#*!5,673(+(),#+0! 8&9.+#)9'!+#2!:';9.,7.;')9'! ! A doctoral thesis presented by Abdullah Chami 550804013 to Department of Complex Systems Science Graduate School of Information Science Nagoya University Japan ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! k]PRyƛ) į¿6Ĕƞį¿r$ē=ƎŪ:4(*ƴyƛ )xð(ļÚ:ņ)LlG= :èŮ :ƵƆÔÂ8ğĺ; # :Xen_UASmk]PR=(%:%ƴÉı¢(¬#Ĩ(į¿% yƛ.)øŴ(7 #İ:°Ƭ=ųĝ:%ì¡%;# :Ƶ 2 ƴƓƟûº)k]PR)¾«(5ƴJjnZ%#ē=ƎŪ:k] PR)ēĭ¾6ē)ĖÅ=Ŧ¾ð5 #ûş(ƒ:%èŮ% ;# :Ƶ)7 (ƴƆÔ)k]PRÐÇ( #ŴűLlG%ŴűQ @J[jA.)ŮĜj\iƱ2 # :Ƶ'8ƴƥøŴ=ú% :Űű6Šű%ĵ'9ƴŴűLlG6ŴűQ@J[jA$*ħ6XR. )øŴ=ú%# :4(ƴƥøŴº)LlG6Q@J[jA(ě/# ÐÇĸÉĭ)³ƣƠň # :Ƶ ! ĈŀŇ$*ƴŴűLlG6ŴűQ@J[jA)ŀŇ( #ZjAEJ in=ć4(ƴŴű)ƙűĭƃ(o!$ :\i\PRmVlSmAh enIflƲ Ƴ=ſď#ƴ)ęĕ=ųă:%(7 #Ā Ŵ űLlG6ŴűQ@J[jA=ƚķ:q$)ƕŮ'XlR=ã:%=ą#$% Ŕĺė%# :Ƶ)42ƴĈŴű)ƙű%#ĈŀŇ$¨9q: 8Žă:Ƶ'<ƴ %*só$Ɨř=õ3só=9«< :%ĈċÆ·' \i\PRݸ)7 #$% #$% 'Ñ : *Ď8 ő)7 '5)=ð:ĭƃ$ :ƵĦó$Ɨř=Ŵ #5)7 'ðű*İ' ! ! "! ! 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""! ! ŀŇƚķ(! #ÕGn\A:Ƶ)á(ƴĈŀŇ(ġƜƌ:Ŵ ű(Ɯ#İħĘ)Ş ā=Ġı(! #œ{:Ƶ)t$ƴĈ ŀŇ%Ɯƌ:yƛ)ĹťmŴű=ſď#ŴűLlG=ŀŇƚķv (! #ųŽ:Ƶ8(ƴyƛ)ŴűęŢ(¼" #ƚķ;ņ)Ŵ űQ@J[jA)ŀŇƚķv(! #5ųŽ:Ƶąá(ƴĀ ŴűL lG%ŴűQ@J[jA=ƚķ:%=ĺô#ƴyƛ)ŴűŻƁęĕ= ųă(ĻøƜƌ: VHI )ķİęĕ(! #ſďŀŇ=ƍ4:%=ĺĸ% # :%=ƈ/:Ƶ ŘŊ 2 ʼn$*ƴVHI (Ɯƌ:ƙűĭƃ=ÕĮų:4(ƴŰű %Ŵű)ƙűĭƃ(! #ýĪſďŗč=2%4:Ƶ)t$ƴĈŀŇ %Ɯƌ:Ŵű)ƙűĭƃ(ě/#Űű)ƙűĭƃ)ā½®v)ü¶ ĸ(à %=ƈ/)(ƴ}ūĸ'Űű)ƙűĭƃ%# Müller-Lyer illusionƴBarber pole illusionƴOuchi illusion =¨9qƴĭ·2$(Ş 8; # :ęĕ)Ž(! #œ{:ƵĚ(ƴŰű%Ŵű)ƙű)ƛ$Ʈí =Ƃƀ#ƴqƈ)Űű)ƙű%#¨9q Müller-Lyer illusionƴ Barber pole illusionƴOuchi illusion ŴűŎ(5İ:%=ŃƵąá(ƴ ŴűŎ$)3ŲÌ;# : Fish bone tactile illusion % VHI (! #ųŽ :Ƶ Ŋ 3 ʼn$*ƴVHI )İ:Ċ=ă8(:4(ƴThurstone )o ÍěƅĞ=ı oƌ)çĮħĮÉƯ(! #ųŽ:ƵVHI *Ɨř$ '×= wĈ)ƘŚ(7 #5İ:%$:ƵwĈ)ƘŚ= ?Ehi)Yjna(×9ƴŬƯş;=só$õ3só=«<ĩñ ! ! """! ! $JgASƐ ƴ)%ķİ:\i\PRݸ)ðŴ)Ø=Ź ƵÉƯĊ%#*ƴ1)ó)ā= ƲŢ ŴƳƴ2)źþ)ā=J RknE 60mmƴƊÖ 120mm/s )ÞåƐ $ Ʋ© ŴƳ)wĊ=÷ ıƵwĈ)ƘŚƴ35ƴ40ƴ45ƴ50ƴ55mm % 5 !)źþ=ıï #İ:\i\PRݸð)Ø=ŹƵ)ŗčƴŢ Ŵ%© Ŵ= ěƅ:%ƴ© Ŵ)āƘŚ)ƛƟÁ¢(Í:\i\PRݸð)Á¢ ƭũ(Ä Ʋŏ 9 Ƴ%< Ƶ)ŗč*ƴƘŚ)Ņ ƊÖ) ä(7 #\i\PRݸð=ï(ä$:%=ï¯# 9ƴŴ űQ@J[jA( #?EOeBnN(79 VHI =ŧIJ(ģ$:ªŢ í=Ń# :Ƶ2ƴJRknE 60mmƴƊÖ 120mm/s )Ċ$*ƴwĈ )ƘŚƄƢ 35mmƶ55mm )ō´$ƘŚƄƢ(ě#\i\PRݸð Ø'9 55mm $ąÄ=Ń%< Ƶ~q)ŗč8ƴ¶Ƈ Ĥ=©# :ĩñ$ƘŚ)ƉƑ=ð:%( VHI İ:% âċ )Ŀů( #ƴİ:Ċ=79ÈƖĸ(È4:Ž=úĐƵ'< ƴƘŚƛƄƢ%ƘŚŅ ƄƢƲÞåƐ )JRknEƳ=;; D % r %:% 1) r/D1 )%¶ƇĤ)3=©:ƪ»$5ƴVHI żķ; :ƴ2) r/D1 )%ąÄ) VHI İ:ƴ3) r/D1 )%Ś)Ņ Ĥ Ø VHI ƝÊ;:Ƶ Ŋ 4 ʼn$*ƴVHI )İ:bCTKa=ă8(:4(ƴŶŌ Ç%#ĆƞŮŒĞ=ı # VHI İ# :%)Ŵű©Ë±(ı# :ęđĤ=ŶŌmŹ:Ƶô=ūĹƴĽĹƴĹrŕŜ)pÏĕƋ% #ƴ;;)dlFĬ=;; 0.136 MPa 0.08 MPa 7- 0.034MPa ! ! "&! ! %ƴ^?PMlě*/#)Ï(! #oĖ( 0.48 %ƵæÎÁÛ= È#ƴpÏĕƋ)ĉþ*/#ŚÛÙí%ƵƘŚ*Ļß 0.8mm ) ŮŒ%#ƴÓƦ,3°Ƭ%#øŴÁÛųČ=ÉĂƵ' ƴƑ¥ )ŀŇ$*ūĹ)ĽĹ(Ûò;Ĵĩ)uƫƔéơt=İƴ ;(79Ŵű©Ë±(ı:Ĥ=ÀÒ# :%ă8(;# :Ƶ)4ƴĈŀŇ)ĆƞŮŒ)ÛĩcQi$5uƫƔ)ƔĕƋ=ªŢ 'ƞ9êÉ(ÛòƵųČ)Ċ%#ƴ1) wĈ)ô=Ť«<(ĩ ñ$ƴŤ«<Ʀ(ƘŚ=ƉƑ:ƲVHI ķİĊƳƴ 7- 2) Ħā )ô)ūƦ(ƘŚ=ƉƑ:ƲoĈôĊƳƴ% wĊ$H`ej nHfl=ÉĂƵŴű)©Ë¤)ƴƏƩéęđ©Ë¤ I ºƲSA I Ƴ*¶ƇĤ=©¨:%ƴ 7- SA I īã:Ĥ)Ø* Mises é $Ź$:%Ƒ¥)ýĪ$ă8(;# :4(ƴŴű©Ë± Æ·:ŝ) Mises é=ŶŌƵ)ŗčƴMises é*ƘŚô( øŴ:ľƛ%ô8Ƣ;:ľƛ(ƭũ(Ä':%< ƵVHI ķİĊ%oĈôĊ=ěƅ:%ƴoĈôĊ)ā 2 Ä =Ń # Ƶ)%*ƴƘŚƉƑ:Ĥ* VHI )RhDn%#ı: ƴ 29(Ä % VHI =İò:q$ƝÊŮ²%' #2 %< Ƶ ąá)Ŋ 5 ʼn$*ŗƀ=ƈ/:ƵĈŀŇ$ã8;ŗƀ=~r(Ůŏ :Ƶ ! ! &! ! Ţ Ŵ%© Ŵ%ěƅ:%ƴ© Ŵ)āƘŚƛƟ(Á¢(Í:İ ò;: VHI )Ø)Á¢Ä %< Ƶ;*ƴzáŴűQ@ J[jA$ VHI =İ:¾«(äªŢ$ :%=Ń# :Ƶ ĈŀŇ$ÉĂÉƯ)ō´$*ƴƘŚƛƟÕ 0&Ø VHI ðİ :%< Ƶ)ŗč%ƨ)ŗč8ƴVHI İ:Ċ=âċ )ŀŇ79ăŁ(Ń%$Ƶ VHI ( : SA I )§é=ſ/:4(ƴyƛ)ô=ĆƞŮŒ$Ęº ¢#ƴƘŚ%)øŴÁÛųČ=ÉĂƵ)ŗčƴƘŚƉƑ:% )ĤÎ 0& VHI ķİ6 %8ƴSA I * VHI ķİ(Ɯ #ƕŮ'Ý=č# :%< Ƶ VHI =İòmä$:ŴűQ@J[jA=ƚķ:4)¼łQnN =ã:4(ƴƘŚ(ı:4))WNnl=¹Ļ%>ÿ( ! #Ĝ4:%$Ƶ záƴĈŀŇ=8(ƍ4:4(Ě)žƬ :Ƶ'<ƴVHI ) ķİ(! #ƴŢ Ŵ%© Ŵƴ 7-ƘŚƛƄƢ¦1ÜƧ(! #ſ /)3$ 9ƴ2£ă8($%*ŵ ' Ƶ záƴƘŚ)Ļ ßƴƘŚ)Ņ ƊÖƴƘŚ)Ņ ƄƢ'&)WgbnN(! #Ēŷ:è Ů :Ƶ2ƴĈŀŇ)ųČ*ƴŚÛųČ(ij2 # :%%5(ô)ô Ő5ĥŰ# :Ƶ8(ö$Ŵ ¾«)ųČ5Ū # ' Ƶzáƴó )cQi¢5­4#ĆƞŮŒcQi=79Éħ)ó(Ɔ":èŮ :Ƶąá(ƴĈŀŇ)òč(¼" #ŴűQ@J[jA6ŴűLlG=ŸŶ ! ! &"! ! ŭ#ƴĈŀŇ$ã8;Ŀů=Ġı:%(79ĈŀŇ)ąŔĺė= Éĭ Ƶ ! !&""! ! "9<#,=0&2*&6&#('! ! I would like to express my appreciation to the examiners of this thesis, Prof. Hideyuki Azegami, Prof. Yoshikazu Hayakawa, and Prof. Masahiro Ohka for their time and effort. I am deeply indebt to my supervisor Prof. Masahiro Ohka for all the help, suggestions and fruitful discussions that made completing this work possible. Special thanks to Prof. Tetsu Miyaoka of Shizuoka Institute of Science and Technology for discussions and advises on human mechanoreception and the experimental procedure followed in this work. I also would like to thank all the current and formers students of Ohka- Lab for their friendship and support. Special thanks to Dr. Hanafiah Bin Yussof, Dr. Naoto Hoshikawa, Dr. Yasuhio Sawamoto, Mr. Rei Oohashi, and Mr. Yuji Kawabe. I would like to express my gratitude to my dear friends, Dr. Moaz Sherfawi Jazaerli, Dr. Amjad Alhelwani, Dr. Adel Alkafri, Dr. Anas Chabouk, Dr. Ammar Ghaibeh, Dr. Muhammed Jabasini, Dr. Belal Aljabri, Mr. Yazan Badran, Mr. & Mrs. Yasushi Yoshika, Mr. Safwan Hendawi, Dr. Majed Fouad Serag, and Dr. Salah Salman. I want to thank them for all their support, concern, and valuable hints, which made living in Japan such a rewarding experience. I would especially like to thank my advisor in Faculty of mechanical Engineering – Aleppo University – Syria, Dr. Hasan Mulki for his guidance through my undergraduate study and his encouragement and support to pursuing my graduate study in Japan. I also wish to thank my dear parents and precious sister for their love, support, and prayers. I can only hope to live up to their expectations and be the proper role model for my younger brother Abdulrahman. I am grateful to the Ministry of Education, Science, Culture, and Sports in Japan (Monbukagakusho) for providing me the opportunity to pursue research in Japan though its scholarship. Abdullah 01 11th 2011 ! ! !&"""! ! 5,#(&#('! !"#$%&'()((((*+%',-./%0,+(1111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111() ! 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