3302 動的な変形と運動を伴う柔軟物体の力覚表現(OS12 人工現実感(I),未来社会を支えるものづくりとひとづくり(設計・システムから))

概要

論文の詳細を見る
An approach to haptic interaction with deformable and moving object is proposed. In our approach, the behavior of an object is defined by a set of temporal deformation patterns after impulse force is applied to each degree of freedom, which we call impulse response deformation model. Deformation resulting from interaction is obtained by computing convolution of the model and the history of interaction force. Motion resulting from interaction is obtained by dynamics simulation. The time complexity of computing interaction force is independent of the complexity of the model. This feature is advantageous for time-critical applications. Also, the time complexity of computing object deformation is linearly proportional to the complexity of the model. Through implementation of a prototype environment, feasibility of the proposed approach is demonstrated.
一般社団法人日本機械学会の論文
2006-11-14