원격조작을 위한 영상정보 기반의 햅틱인터렉션 방법: 매크로 및 마이크로 시스템 응용Vision-Based Haptic Interaction Method for Telemanipulation: Macro and Micro Applications

Cited 0 time in webofscience Cited 0 time in scopus
  • Hit : 370
  • Download : 0
Haptic rendering is a process that provides force feedback during interactions between a user and an object. This paper presents a haptic rendering technique for a telemanipulation system of deformable objects using image processing and physically based modeling techniques. The interaction forces between an instrument driven by a haptic device and a deformable object are inferred in real time based on a continuum mechanics model of the object, which consists of a boundary element model and α priori knowledge of the object's mechanical properties. Macro- and micro-scale experimental systems, equipped with a telemanipulation system and a commercial haptic display, were developed and tested using silicone (macro-scale) and zebrafish embryos (micro-scale). The experimental results showed the effectiveness of the algorithm in different scales: two experimental systems applied the same algorithm provided haptic feedback regardless of the system scale.
Publisher
대한기계학회
Issue Date
2008
Language
KOR
Citation

대한기계학회 2008년도 추계학술대회, pp.1594 - 1599

URI
http://hdl.handle.net/10203/162328
Appears in Collection
ME-Conference Papers(학술회의논문)
Files in This Item
There are no files associated with this item.

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0