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In this paper, a novel method to determine the shape of a 3D object is proposed. Instead of a flexible conventional touch probe, a high-stiffness vibration touch sensor was developed. The proposed sensor consisted of a piezo-electric device and thin probe, and generated feedback voltage according to the relative distance from the object. The structure of this sensor is simple, so that it can withstand high rates of acceleration during the measurement process. A nonlinear synchronous multi-axis control algorithm is also proposed. The effectiveness of our proposed sensor and control algorithm is demonstrated through experiments and simulations.

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A3STRACT This paper propose:; an analysis method for emotional voice and application to emotional voice synthesis in man-Inachine interaction. The analysis is based on a high resolution time-frequency method and the clustering technique of four ypes of basic emotion. Based on the emotional analysis, a voice with the neutral emotion is transformed to the p,uticular emotional voice according to ' time-frequency emotional modifications.In the simulations, four typ:s of emotional voices (neutral, anger, sadness. joy) are analyzed using 160 samples of speech signals. About 88 (%) of average discrimination rate is achleved. Based on the cluster analysis results, an unknown voice is also discriminated to show the, effectiveness of our method. Further, we attempt to synthesize an emotional voice.

An entirely novel shape measurement method to obtain 3D shapes is proposed, based on a bilateral vibration touch probe that outputs feedback voltage in accordance with its position. A bilateral vibration touch probe, with high-stiffness, is developed. The proposed probe consists of a piezo-electric device and a thin needle, and generates feedback voltage according to the relative distance from the object. The structure of this probe is simple, so that it is able to withstand high rates of acceleration during the measurement process. The shape measurement is performed in an object of unknown shape and the shape of the object can be found by scanning the object surface. Moreover, a nonlinear synchronous multi-axis control algorithm is proposed in order to scan the surface of arbitrary objects and measure their 3D shape. The effectiveness of the proposed algorithm is demonstrated through experiments. When actual width of 1 mm was measured using the proposed nonlinear synchronous multi-axis control, a minimum error of 21.7 μm was obtained.