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In this paper we present a method for generating accurate haptic force models to describe the feel of physical devices. The models are generated by fitting polynomial hypersurfaces to experimentally measured motion and force data obtained by actuating physical devices. The methods are demonstrated by modeling the complex force-deflection profile of a nonlinear mass-spring-damper system. Initial results...
As an approach to real-time simulation of haptic interaction with deformable objects, we proposed a record-reproduction method called dasiaimpulse response deformation modelpsila (IRDM), in which the deformation of an object shape is computed by convolving temporal sequence of interaction force with a pre-computed response of model to impulse force. Although, IRDM has an advantage that its computation...
A robot that supports independent living by assisting with eating and other activities involving the use of the hand using the operator's own hand would be helpful for people suffering from tremors of the hand or any other body part. In this study, the proposed adaptive filter estimates tremor frequency with a time-varying property and individual differences online, and insulates the voluntary motion...
Soft tissue modelling is important in the realm of haptic interactions. The main challenge in this research area is to combine two basic conditions which are essential-the stability of the haptic interaction running on high refresh rate on one hand and realistic behavior of the tissue assuming computationally expensive mathematical models on the other.
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