Rigidity Distribution Rendering for a Tool-Handling Type Haptic Interface | Zendy

Hiroaki Yano | Zendy; Masaki Nudejima | Zendy; Masaki Tomiyoshi | Zendy; Hiroo Iwata | Zendy

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Rigidity Distribution Rendering for a Tool-Handling Type Haptic Interface

Author(s) -

Hiroaki Yano,

Masaki Nudejima,

Masaki Tomiyoshi,

Hiroo Iwata

Publication year - 2006

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2006.p0418

Subject(s) - rigidity (electromagnetism) , haptic technology , computer science , rendering (computer graphics) , computer vision , artificial intelligence , computer graphics (images) , engineering , structural engineering

We discuss haptic rendering for the perception of rigidity distribution using a tool-handing type haptic interface and a surface type haptic interface. Since rigidity distribution data differs from cardinal number data measured with Computed Tomography (CT) or Magnetic Resonance Imaging (MRI), we perceive rigidity only when we deform it. We developed rigidity data mapping, gradient mapping, torque mapping, viscosity mapping, and a spring model and applied them to tasks for perceiving rigidity distribution, confirming that our data mapping is effective for rigidity distribution perception.

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