A Haptic Interaction Method Using Visual Information and Physically Based Modeling

被引:35
作者
Kim, Jungsik [1 ]
Janabi-Sharifi, Farrokh [2 ]
Kim, Jung [1 ]
机构
[1] Korea Adv Inst Sci & Technol, Dept Mech Engn, Taejon 305701, South Korea
[2] Ryerson Univ, Dept Mech & Ind Engn, Toronto, ON M5B 2K3, Canada
关键词
Force estimation; haptic feedback; image processing; physically based modeling; telemanipulation; FORCE-FEEDBACK; SURGERY; TELEPRESENCE; SIMULATION;
D O I
10.1109/TMECH.2009.2031240
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Haptic feedback can be used to sense a physical environment at a remote site in order to overcome spatial or scale barriers in telemanipulation. The aim of this paper is to develop a haptic interaction method for a deformable object manipulation system by means of image processing and physically based modeling techniques. The interaction forces between the instrument driven by a haptic device and a deformable object are inferred in real time based on the visual information from a slave environment without force sensor. A physically based model of the deformable object is constructed by integrating the geometric information from vision, a priori knowledge of the object mechanical properties, and a pre-defined coordinate system of the slave environment. The forces are then derived from the model, while a boundary condition is updated based on the images (a tool-tip position tracking). In order to demonstrate the applicability and effectiveness of the proposed algorithm, macro- and microscale experimental systems were built and equipped with a telemanipulation system and a commercial haptic display. The proposed method was verified using silicone (macroscale) and zebrafish embryos (microscale).
引用
收藏
页码:636 / 645
页数:10
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