From Friction Measurement to Haptic Rendering with One Point-Based Haptic Device

2010 International Conference on Computational Science and Its Applications Pub Date : 2010-03-23 DOI:10.1109/ICCSA.2010.80

Wataru Wakita, Hirokazu Murai, Hiromi T. Tanaka

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引用次数: 2

Abstract

We present a system from friction measurement to haptic rendering with ONE point-based haptic device. To present a high definition virtual object by haptic rendering, it is necessary to present a haptic impression such as the asperity, friction and stiffness while controlling the haptic device at more than 300-1000 Hz update rate. We have proposed several texture-based haptic rendering techniques at small amount of calculation and with high definition. However, in our previous techniques, the haptic texture such as the height map, normal map, friction map and stiffness map are not based on the measurement data in the real world. To present more realistic haptic impression, it is necessary to calculate the reaction force based on the measurement data in the real world. Therefore, we firstly developed a prototype system of a friction measurement and friction map generation. Secondly, we attempted a haptic rendering based on the measurement data. It is notable that our system enables these functions with ONE point-based haptic device. This paper describes a system from friction measurement to haptic rendering with one point-based haptic device.

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从摩擦测量到单点触觉设备的触觉渲染

我们提出了一种基于单点触觉装置的从摩擦测量到触觉渲染的系统。为了通过触觉渲染呈现出高清晰度的虚拟物体，需要在以300- 1000hz以上的更新速率控制触觉设备的同时，呈现出粗糙度、摩擦度、刚度等触觉印象。我们提出了几种计算量小、清晰度高的基于纹理的触觉渲染技术。然而，在我们之前的技术中，高度贴图、法线贴图、摩擦贴图和刚度贴图等触觉纹理并不是基于真实世界的测量数据。为了呈现更真实的触觉印象，有必要根据真实世界的测量数据计算反作用力。因此，我们首先开发了一个摩擦测量和摩擦图生成的原型系统。其次，我们尝试了基于测量数据的触觉渲染。值得注意的是，我们的系统通过一个基于点的触觉设备实现了这些功能。本文介绍了一种基于单点触觉装置的从摩擦测量到触觉渲染的系统。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2010 International Conference on Computational Science and Its Applications

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