| Budget Amount *help |
¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2014: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2013: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2012: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
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| Outline of Final Research Achievements |
The objective of this research is realizing an approach for multi-point and multi-user haptic interaction with complex inhomogeneous elastic objects (e.g. organs which have various physical properties and geometries). We proposed (a) adaptive, co-rotated and embedded deformation model which can consider geometric non-linearity and non-uniform physical properties, (b) surface contact simulation approach between the embedded deformation model and a rigid body, and (c) an approach for synchronization of deformation of shared elastic objects. Then we implemented these approaches into our surgery simulation system, and we confirmed effectiveness of these approaches.
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