Browse > Article
http://dx.doi.org/10.3795/KSME-A.2007.31.8.855

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

Kim, Jung-Sik (한국과학기술원 기계공학과)
Kim, Young-Jin (한국과학기술원 기계공학과)
Kim, Jung (한국과학기술원 기계공학과)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.31, no.8, 2007 , pp. 855-861 More about this Journal
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.
Keywords
Haptic Rendering; Image Processing; Real-Time Force Feedback; Deformable Object; Cellular Manipulation;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
Times Cited By SCOPUS : 1
연도 인용수 순위
1 Kyung, K. U. and Park, J. S., 2006, 'The State of the Art and R&D Perceptives on Haptics,' Electronics and Telecommunications Trends, ETRI, Vol. 21, No.5, pp.93-108
2 Kim, L., Sukhatme, G S. and Desbrun, M., 2004, 'A Haptic-Rendering Technique Based on Hybrid Surface Representation,' IEEE Computer Graphics and Applications, Vol. 24, pp. 66-75   DOI   ScienceOn
3 Basdogan, C., De, S., Kim, J., Muniyandi, M., Kim, H. and Srinivasan, M. A., 2004, 'Haptics in Minimally Invasive Surgical Simulation and Training,' IEEE Computer Graphics and Applications, Vol. 24, pp. 56-64   DOI   ScienceOn
4 Lee, M. H., 2002, 'Nonlinear Virtual Coupling for Stable Haptic Interface,' KAIST, Master Thesie
5 http://www.intel.com/technology/computing/opencv
6 Lewis, J. P., 1995, 'Fast Normalized Cross- correlation,' Vision Interface, pp 120-123
7 Kass, M., Witkin, A. and Terzopoulos, D., 1988, 'Snakes: Active Contour Models,' International Journal of Computer Vision, Vol. 1, No.4, pp. 321-331   DOI
8 Zhuang, Y. and Canny, J., 2000, 'Haptic Interaction with Global Deformation,' Proc. IEEE Int. Con! Robot. Autom., Vol. 3, pp. 2428-2433   DOI
9 Picinbono, G, Lombardo, J. C., Delingette, H. and Ayache, N., 2002, 'Improving Realism of a Surgery Simulator: Linear Anisotropic Elasticity, Complex Interactions and Force Extrapolation,' Journal of Visualization and Computer Animation, Vol. 13, pp. 147-167   DOI   ScienceOn
10 Pillarisetti, A., Anjum, W., Desai, J. P., Friedman, G and Brooks, A. D., 2005, 'Force Feedback Interface for Cell Injection,' First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'05), pp. 391-400
11 Ammi, M., Ferreira, A., 2006, 'Biological Cell Injection Visual and Haptic Interface,' Advanced Robotics, Vol. 20, No.3, pp. 283-304   DOI
12 Williams, D. J. and Shah, M., 1992, 'A Fast Algorithm for Active Contours and Curvature Estimation,' CVGIP: Image Understanding, Vol. 55, No.1, pp.14-26   DOI
13 Salisbury, K., Brocki, D., Massiet, T., Swarupf, N. and Zillest, C., 1995, 'Haptic Rendering: Programming: Touch Interaction with Virtual Objects,' Proc. of Symp. Interactive 3D Graphics, ACM Press, pp. 123-130
14 Kim, D. H., Kim, B., Yun, S., Kang, H., 2003, 'Cellular Force Sensing for Force Feedback-Based Biological Cell Injection,' Trans. of the KSME (A), Vol. 27, No. 12, pp. 2079-2084   과학기술학회마을   DOI   ScienceOn
15 Park, J. and Khatib, O., 2006, 'A Haptic Teleoperation Approach Based on Contact Force Control,' Int. J. of Robotics Research, Vol. 25, pp. 575-591   DOI
16 Shim, J. H., Cho, S. Y., Cha, D. H., 2004, 'VisionGuided Micromanipulation System for Biomedical Application,' Proc. of SPIE, Vol. 5604, pp. 98-107   DOI
17 Sun, Y., Nelson, B. J., 2002, 'Biological Cell Injection Using an Autonomous MicroRobotic System,' The International Journal of Robotics Research, Vol. 21, No. 10-11, pp. 861-868   DOI   ScienceOn