2006 Fiscal Year Final Research Report Summary
Development of Visual Haptic Display Using Flexible Sheet
| Project/Area Number |
17560226
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Osaka University |
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Principal Investigator |
INOUE Kenji Osaka University, Graduate School of Engineering Science, Department of Systems Innovation, Graduate School of Engineering Science, Assistant professor, 大学院基礎工学研究科, 助教授 (40203228)
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| Project Period (FY) |
2005 – 2006
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| Keywords | Virtual reality / User interface / Intelligent robotics / Haptics |
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| Research Abstract |
A visual haptic display system using flexible sheet for presenting virtual soft objects is developed.
1.A flexible sheet such as rubber becomes hard when it is tensioned; it becomes soft when loosened. Hence, if the bias tension applied to the sheet is changed, users can feel different compliance when they touch the sheet directly. We developed a haptic display which consists of two manipulators and one translucent flexible sheet; both sides of the sheet are fixed to the manipulators. We implemented a control method of varying the sheet compliance by pulling the sheet using the manipulators. Then we measured the force-displacement curve of the sheet. As a result we showed that this system can generate variable sheet compliance by changing the bias tension. We also developed a control method for the manipulators of moving the sheet so that it may be a tangential plane of a virtual object at the point which a user's finger touches. We performed an experiment of active touch: stroking a vi
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rtual cylinder with a finger.
2.As a visual display we proposed a method of projecting three dimensional CG image of a deformed virtual soft object directly on the sheet from its backside. First the three-dimensional position of a user's finger is measured by stereo cameras and obtained how deep the virtual object is pushed. Second the deformation of the object is calculated by finite element method. Third the three dimensional CG image of the deformed object is projected directly on the sheet from its backside. Then the user sees the virtual object on the sheet through stereoscopic glasses. When the user touches the virtual object using the above-mentioned haptic display, the CG image projected on the sheet is distorted by the movement of the sheet and the depression of the pushed sheet. Thus we developed a method of correcting this CG image distortion. We evaluated the accuracy of the corrected image seen from the user's viewpoint and showed the effectiveness of this image correction.
3.By integrating the above-mentioned haptic display and visual display, the users can see the three-dimensional CG image of a virtual soft object and touch it directly. They can feel the compliance of the object by pushing and the shape of the object by active touch. Less
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