상세정보
학술지
Real-time Area-based Haptic Rendering and the Augmented Tactile Display Device for a Palpation Simulator
- 저자
- 김상연, 경기욱, 박진아, 권동수
- 발행일
- 200709
- 출처
- Advanced Robotics, v.21 no.9, pp.961-981
- ISSN
- 0169-1864
- 출판사
- Taylor and Francis
- 협약과제
- 06MH1900, 네트워크 기반 실감형 서비스를 위한 오감정보처리 기술개발, 박준석
- 초록
- Although people usually contact a surface with some area rather than a point, most haptic devices allow a user to interact with a virtual object at one point at a time and likewise most haptic rendering algorithms deal with such situations only. In a palpation procedure, medical doctors push and rub the organ's surface, and are provided the sensation of distributed pressure and contact force (reflecting force) for discerning doubtable areas of the organ. In this paper, we suggest real-time area-based haptic rendering to describe distributed pressure and contact force simultaneously, and present a haptic interface system to generate surface properties in accordance with the haptic rendering algorithm. We represent the haptic model using the shape-retaining chain link (S-chain) framework for a fast and stable computation of the contact force and distributed pressure from a volumetric virtual object. In addition, we developed a compact pin-array-type tactile display unit and attached it to the PHANToMTM haptic device to complement each other. For the evaluation, experiments were conducted with non-homogenous volumetric cubic objects consisting of approximately 500 000 volume elements. The experimental results show that compared to the point contact, the area contact provides the user with more precise perception of the shape and softness of the object's composition, and that our proposed system satisfies the real-time and realism constraints to be useful for a virtual reality application. © 2007 VSP.
- KSP 제안 키워드
- Array-type, Display device, Haptic interface system, Haptic model, Haptic rendering, Non-homogenous, Real-Time, Stable computation, Time area, Virtual Reality(VR), area-based