대한기계학회논문집A (Transactions of the Korean Society of Mechanical Engineers A)

  • 제31권8호
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  • Pages.855-861
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  • 2007
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  • 1226-4873(pISSN)
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  • 2288-5226(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
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원격조작을 위한 2차원 영상정보에 기반한 저속 변형체의 실시간 햅틱 렌더링

Real-Time Haptic Rendering of Slowly Deformable Bodies Based on Two Dimensional Visual Information for Telemanipulation

  • 김정식 (한국과학기술원 기계공학과) ;
  • 김영진 (한국과학기술원 기계공학과) ;
  • 김정 (한국과학기술원 기계공학과)
  • 발행 : 2007.08.01
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초록

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.

키워드

참고문헌

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