| Budget Amount *help |
¥14,820,000 (Direct Cost: ¥11,400,000、Indirect Cost: ¥3,420,000)
Fiscal Year 2017: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2016: ¥6,760,000 (Direct Cost: ¥5,200,000、Indirect Cost: ¥1,560,000)
Fiscal Year 2015: ¥6,630,000 (Direct Cost: ¥5,100,000、Indirect Cost: ¥1,530,000)
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| Outline of Final Research Achievements |
The objective of this research is realizing approaches for haptic interaction between inhomogeneous elastic objects (e.g. hands or organs which have various physical properties and geometries) with large deformation. We proposed several approaches for (a) fast, stable, continuum dynamics based and embedded deformation simulation, (b) computationally effective collision detection and a coupled simulation. Then we implemented these approaches into our palpation simulation system, and we confirmed feasibility and effectiveness of these approaches.
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