Remote compliance measurement method using ultrasound phased array

This paper proposes a remote compliance measurement method for one-to-many haptic communication like TV broadcasting. Although master-slave robots are used for one-to-one haptic transmission systems, we cannot apply them to this kind of one-to-many communication, where many users share single object remotely at the same time. So we set our goal to realize a remote, non-contact and real-time surface compliance distribution measurement. Our method utilizes an ultrasound phased array. It generates an ultrasound convergent beam and pushes a surface of an object, and then the surface displacement is obtained. In this paper, we describe our proposed method and report some fundamental experiments.