Integrating tactile and force feedback with finite element models

被引：0

作者：

Wagner, CR ^{[1
]}

Perrin, DP ^{[1
]}

Feller, RL ^{[1
]}

Howe, RD ^{[1
]}

Clatz, O ^{[1
]}

Delingette, H ^{[1
]}

Ayache, N ^{[1
]}

机构：

[1] Harvard Univ, Div Engn & Appl Sci, Cambridge, MA 02138 USA

来源：

2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4 | 2005年

关键词：

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Integration of the correct tactile and kinesthetic force feedback response with an accurate computational model of a compliant environment is a formidable challenge. We examine several design issues that arise in the construction of a compliance renderer, specifically the interaction between impedances of tactile displays, impedances of robot arms, and the computational model. We also describe an implementation of a compliance rendering system combining a low-impedance robot arm for large workspace kinesthetic force feedback, a high-impedance shape display for distributed tactile feedback to the finger pad, and a real-time finite element modeler. To determine the efficacy of the integration of tactile and kinesthetic force feedback components, we conducted a study examining the user's ability to discriminate stiffness. Subjects were able to reliably detect a 20% difference in rendered material stiffness using our compliance rendering system.

引用

页码：3942 / 3947

页数：6

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