DC Field | Value | Language |
---|---|---|
dc.contributor.author | 김영진 | ko |
dc.contributor.author | 김정식 | ko |
dc.contributor.author | 김정 | ko |
dc.date.accessioned | 2013-03-08T01:05:36Z | - |
dc.date.available | 2013-03-08T01:05:36Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 2007-08 | - |
dc.identifier.citation | 대한기계학회논문집 A, v.31, no.8, pp.855 - 861 | - |
dc.identifier.issn | 1226-4873 | - |
dc.identifier.uri | http://hdl.handle.net/10203/91669 | - |
dc.description.abstract | Haptic rendering is a process providing force feedback during interactions between a user and a virtual object. This paper presents a real-time haptic rendering technique for deformable objects based on visual information of intervention between a tool and a real object in a remote place. A user can feel the artificial reaction force through a haptic device in real-time when a slave system exerts manipulation tasks on a deformable object. The models of the deformable object and the manipulator are created from the captured image obtained with a CCD camera and the recognition of objects is achieved using image processing techniques. The force at a rate of 1 kHz for stable haptic interaction is deduced using extrapolation of forces at a low update rate. The rendering algorithm developed was tested and validated on a test platform consisting of a one-dimensional indentation device and an off-the shelf force feedback device. This software system can be used in a cellular manipulation system providing artificial force feedback to enhance a success rate of operations. | - |
dc.language | Korean | - |
dc.publisher | 대한기계학회 | - |
dc.title | 원격조작을 위한 2차원 영상정보에 기반한 저속 변형체의실시간 햅틱 렌더링 | - |
dc.title.alternative | Real-Time Haptic Rendering of Slowly Deformable Bodies Based on Two Dimensional Visual Information for Telemanipulation | - |
dc.type | Article | - |
dc.type.rims | ART | - |
dc.citation.volume | 31 | - |
dc.citation.issue | 8 | - |
dc.citation.beginningpage | 855 | - |
dc.citation.endingpage | 861 | - |
dc.citation.publicationname | 대한기계학회논문집 A | - |
dc.contributor.localauthor | 김정 | - |
dc.contributor.nonIdAuthor | 김영진 | - |
dc.contributor.nonIdAuthor | 김정식 | - |
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