ハプティックビジョンに基づく能動的レオロジー物体モデリングのための粘弾性パラメータ抽出(<特集>変形と力覚) Extracting Rheological Properties of Deformable Objects with Haptic Vision

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Recently, haptic interface has been intensively studied for providing a sense of touch sensation. Moreover, high-performance force feedback displays have been developed for realizing haptic interface with the virtual environment. In this paper, we propose a novel approach to extraction of rheological properties of deformable objects based on haptic vision approach, which was proposed for vision-based automatic construction of virtual space simulators. We first observe an object by active vision to obtain its 3D shape and posture. We then estimate a contact point and a contact force to cause deformation behavior of the object most stably and effectively, based on the acquired shape and posture. Next, we exert the contact force to the object by active touch, i.e., by Push operation of a robot hand. Rheological properties of the object are estimated and extracted from the observation of the contact force transition and deformation analysis, using a loadcell-sensor and a range finder observing object's behaviors. Experimental results showed the validity and effectiveness of the proposed approach.

収録刊行物

  • 日本バーチャルリアリティ学会論文誌

    日本バーチャルリアリティ学会論文誌 8(3), 237-246, 2003

    特定非営利活動法人 日本バーチャルリアリティ学会

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各種コード

  • NII論文ID(NAID)
    110008746884
  • NII書誌ID(NCID)
    AA11448578
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    1344-011X
  • NDL 記事登録ID
    6718009
  • NDL 雑誌分類
    ZM2(科学技術--科学技術一般--大学・研究所・学会紀要)
  • NDL 請求記号
    Z14-B420
  • データ提供元
    CJP書誌  CJP引用  NDL  NII-ELS  J-STAGE 
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