Contact force decomposition using tactile information for haptic augmented reality

This paper proposes a contact force decomposition method using tactile information for haptic augmented reality (AR). Haptic AR modulates real haptic interaction to desired interaction by adding virtual haptic feedback. For haptic AR rendering, the measurement of real haptic interaction including de...

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Bibliographic Details
Published in2014 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 1242 - 1247
Main Authors Hyoungkyun Kim, Seungmoon Choi, Wan Kyun Chung
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2014
Subjects
Deformable models
Force
Force measurement
Friction
Haptic interfaces
Rendering (computer graphics)
Tactile sensors
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Summary:This paper proposes a contact force decomposition method using tactile information for haptic augmented reality (AR). Haptic AR modulates real haptic interaction to desired interaction by adding virtual haptic feedback. For haptic AR rendering, the measurement of real haptic interaction including deformation and friction force is important for accurate rendering, but the current haptic AR algorithms do not support it properly. The proposed method, derived from a simple model of rigid-deformable body contact, decomposes contact force into deformation force and friction force using force and tactile information. A finite element method (FEM) based simulation of contact between two objects was performed for the performance verification of the proposed method. The results showed the proposed method can decompose contact force more exactly than the conventional decomposition methods in haptic AR.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2014.6942716