The human tongue has superior movement and tactile sensations. For individuals
with severe disabilities, a tongue operated interface device can be used
to operate life-support equipment, such as powered wheelchairs and robotic
manipulators. A joystick-type device can directly translate various tongue
motions to external equipment behavior. In addition, the user can interactively
communicate with the equipment by tactile feedback. This helps the
user to control the equipment safely and skillfully. Considering these factors,
in a previous study [1], we developed a novel tongue-operated joystick device
with reaction force feedback mechanism. We described the design process including
the analysis of human tongue movement and tactile sensations and
showed fundamental performances of reaction force feedback with the prototype
device. In this study, we discuss the shape of the operational part that
is used by the tongue. Two types of operational tools are prepared and their
operability and perception of reaction force feedback are compared. Furthermore,
we confirm the effectiveness of reaction force feedback to operate
the joystick device safely and skillful controlling a mobile robot in an unknown
environment.
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