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Construction of Measurement, Transfer and Reproduction System of Elasticity

Research Project

Project/Area Number 15300030
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Media informatics/Database
Research InstitutionThe University of Tokyo

Principal Investigator

HIROTA Koichi  University of Tokyo, Graduate School of Frontier Sciences, Associate Professor, 大学院・新領域創成科学研究科, 助教授 (80273332)

Co-Investigator(Kenkyū-buntansha) HIROSE Michitaka  University of Tokyo, Research Center for Advanced Science and Technology, Professor, 先端科学技術研究センター, 教授 (40156716)
Project Period (FY) 2003 – 2005
Project Status Completed (Fiscal Year 2005)
Budget Amount *help
¥16,200,000 (Direct Cost: ¥16,200,000)
Fiscal Year 2005: ¥1,500,000 (Direct Cost: ¥1,500,000)
Fiscal Year 2004: ¥4,800,000 (Direct Cost: ¥4,800,000)
Fiscal Year 2003: ¥9,900,000 (Direct Cost: ¥9,900,000)
KeywordsVirtual reality / Elasticity / Deformation model / Haptics / Record and retrieval approach
Research Abstract

The objective of this research is to construct measurement, transfer and reproduction system of elasticity of deformable objects.
At first, we have developed following three measurement and record methods which are suitable for display of elastic information,
1.The reaction forces of an object are defined by a force field.
2.The deformation of an object is defined by a stiffness matrix.
3.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. 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.
And then, we have constructed measurement system using a robot arm, a force sensor, a optical position sensor (OPTOTRAK) and simulation.
Finally, we have evaluated and confirmed feasibility and performance of the proposed methods.

Report

(4 results)
  • 2005 Annual Research Report   Final Research Report Summary
  • 2004 Annual Research Report
  • 2003 Annual Research Report
  • Research Products

    (22 results)

All 2006 2005 2004 2003 Other

All Journal Article (18 results) Publications (4 results)

  • [Journal Article] Impulse Response Model : an Approach to Haptic Interaction with Dynamically Dformable Object2006

    • Author(s)
      Kazuyoshi Tagawa, Koichi Hirota, Michitaka Hirose
    • Journal Title

      In Proc/ of IEEE Virtual Realoty 2006 (14th SYmposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems)

      Pages: 209-216

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Impulse Response Model : an Approach to Haptic Interaction with Dynamically Deformable Object2006

    • Author(s)
      Kazuyoshi Tagawa, Koichi Hirota, Michitaka Hirose
    • Journal Title

      In Proc. of IEEE Virtual Reality 2006 (14th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems)

      Pages: 209-216

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Annual Research Report 2005 Final Research Report Summary
  • [Journal Article] 記録再生型手法を用いた柔軟物体の力覚表現とその評価2005

    • Author(s)
      田川和義, 広田光一, 廣瀬通孝
    • Journal Title

      日本バーチャルリアリティ学会第10回大会

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 柔らかい物体の力覚表現-動的変形過程の考慮-2005

    • Author(s)
      田川和義, 広田光一, 廣瀬通孝
    • Journal Title

      ロボティクス・メカトロニクス講演会

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 高密度点刺激型触角ディスプレイ2004

    • Author(s)
      中茂 睦裕, 広田 光一, 廣瀬 通孝
    • Journal Title

      日本バーチャルリアリティ学会論文誌 Vol.9,No.3

      Pages: 275-282

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Linear actuator foe high-resolution tactile display2004

    • Author(s)
      M.Nakashige, K.Hirota, M.Hirose
    • Journal Title

      13th IEEE International Workshop on Robot and Human Interactive Communication

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Actuation mechanism for high-resolution tactile dosplay2004

    • Author(s)
      NAKASHIGE Mutsuhiro, HIROTA Koichi, HIROSE Michitaka
    • Journal Title

      The 14th International Conference on Artificial Reality and Telexistence

      Pages: 146-149

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] High Resolution Tactile DIsplay2004

    • Author(s)
      Mutsuhiro Nakashige, Koichi Hirota, Michitaka Hirose
    • Journal Title

      Transactions of the Virtual Reality Society of Japan Vol.9 No.3

      Pages: 275-282

    • NAID

      10013959792

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Linear actuator for high-resolution tactile display2004

    • Author(s)
      M.Nakashige, K.Hirota, M.Hirose
    • Journal Title

      13th IEEE International Workshop on Robot and Human Interactive Communication

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Actuation mechanism for high-resolution tactile display2004

    • Author(s)
      NAKASHIGE Mutsuhiro, HIROTA Koichi, HIROSE Michitaka
    • Journal Title

      The 14th International Conference on Artificial Reality and Telexistence

      Pages: 146-149

    • NAID

      10013343571

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary 2004 Annual Research Report
  • [Journal Article] 高密度点刺激型触覚ディスプレイ2004

    • Author(s)
      中茂睦裕, 広田光一, 廣瀬通孝
    • Journal Title

      日本バーチャルリアリティ学会論文誌 Vol.9,No.3

      Pages: 275-282

    • NAID

      10013959792

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Linear actuator for high-resolution tactile display2004

    • Author(s)
      M.Nakashige, K.Hirota, M.Hirose
    • Journal Title

      13th IEEE International Workshop on Robot and Human Interactive Communication (CD-ROM)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 高密度点刺激型触覚ディスプレイにおける駆動機構の検討2004

    • Author(s)
      中茂睦裕, 広田光一, 廣瀬通孝
    • Journal Title

      ヒューマンインタフェース学会第28回研究会「人工現実感」

      Pages: 13-16

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 柔軟体の記録再生型挙動・力覚シミュレーション2004

    • Author(s)
      田川和義, 広田光一, 廣瀬通孝
    • Journal Title

      日本バーチャルリアリティ学会第9回大会 (CD-ROM)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Haptics in Museum Exbitions2003

    • Author(s)
      Koichi Hirota, Michitaka Hirose
    • Journal Title

      Proc. HCI 2003 vol.3

      Pages: 1401-1405

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Haptic Interface Using Estimation of Box Contents Metaphor2003

    • Author(s)
      Yuchiro Sekiguchi, Koichi Hirota, Michitaka Hirose
    • Journal Title

      Proc. ICAT 2002

      Pages: 197-202

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Haptics in Museum Exbitions2003

    • Author(s)
      Koichi Hirota, Michitaka Hirose
    • Journal Title

      Proc. HCI 2003 Vol.3

      Pages: 1401-1405

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Haptic Interface Using Estimation of Box Contents Metaphor2003

    • Author(s)
      Yuichiro Sekiguchi, Koichi Hirota, Michitaka Hirose
    • Journal Title

      Proc. ICAT 2003

      Pages: 197-202

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Publications] Koichi Hirota, Michitaka Hirose: "Haptics in Museum Exhibitions"Proc.HCII 2003. vol.3. 1401-1405 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] Yuichiro Sekiguchi, Koichi Hirota, Michitaka hirose: "Haptic Interface Using Estimation of Box Contents Metaphor"Proc.ICAT2003. 197-202 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] 中茂 睦裕, 広田 光一, 廣瀬 通孝: "高密度点刺激型触覚ディスプレイ"日本VR学会第8回大会論文集. 253-254 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] 関口 雄一郎, 広田 光一, 廣瀬 通孝: "衝撃感覚を利用した実世界指向ハプティックインタフェースの研究"ヒューマンインタフェースシンポジウム2003論文集. 571-574 (2003)

    • Related Report
      2003 Annual Research Report

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Published: 2003-04-01   Modified: 2016-04-21  

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