2005 Fiscal Year Final Research Report Summary
Construction of Measurement, Transfer and Reproduction System of Elasticity
| Project/Area Number |
15300030
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Media informatics/Database
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| Research Institution | The University of Tokyo |
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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)
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| 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)
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| Project Period (FY) |
2003 – 2005
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| Keywords | Virtual reality / Elasticity / Deformation model / Haptics / Record and retrieval approach |
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| 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.
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