2013 Fiscal Year Final Research Report
High quality haptic interaction with a soft body for remote collaboration
| Project/Area Number |
24700117
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Media informatics/Database
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| Research Institution | Osaka University |
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Principal Investigator |
KURODA Yoshihiro 大阪大学, サイバーメディアセンター, 准教授 (30402837)
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| Project Period (FY) |
2012-04-01 – 2014-03-31
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| Keywords | 可触化 / 計算力学 / 生体信号処理 / 機械学習 / 有限要素法 |
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| Research Abstract |
In medicine, safe and efficient training environment is required. This study aimed at the establishment of remote collaborative environment with high quality haptic interaction, and achieved the technologies to compensate transfer and computation delays at the situation of haptic interaction with a soft body. Real-time calculation method for geometrically non-linear deformation has been developed. The method allows us to interact with an object which has more than 200 nodes at video rate, 30Hz. The conventional method was difficult to perform large deformation with force feedback. Both biomedical signal processing and machine learning allowed movement estimation in prior to the actual motion with surface EMG signals. This project established the fundamental technologies of remote collaborative environment with a soft body by developing the methods to compensate delays induced by high calculation and data transfer in a soft body manipulation.
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