2A1-B04 柔軟物の内部変形計測によるFEモデルの力学パラメータ同定(変形による力覚モデリング・センシング)

概要

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This paper describes the method to identify the parameters of 2D FE (Finite Element) deformation model from the measured inner deformation of soft objects. First, we formulate 2D elastic deformation and apply FE method to compute the deformation numerically. Next, we describe the method to measure the deformation of soft objects. We propose to deform an object to be identified by another object of which physical parameters are known. During this process, inner deformation of the two objects are measured by CT or MRI technique. Soft objects are pushed by the objects which of the parameters identification is tested in advance. Finally, we formulate a method to identify the model parameters from the measured deformations.
一般社団法人日本機械学会の論文
2007-05-11