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Construction of haptic display system in virtual space by using measured parameters from MR Elastography

Research Project

Project/Area Number 17300150
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Biomedical engineering/Biological material science
Research InstitutionKyoto University

Principal Investigator

MATSUDA Tetsuya  Kyoto University, Graduate School of Informatics, Professor (00209561)

Co-Investigator(Kenkyū-buntansha) AMANO Akira  Kyoto University, Graduate School of Informatics, Associate Professor (60252491)
MIZUTA Shinobu  Kyoto University, Graduate School of Informatics, Assistant Professor (40314265)
OIDA Takenori  Kyoto University, Graduate School of Engineering, Assistant Professor (70447910)
Project Period (FY) 2005 – 2007
Project Status Completed (Fiscal Year 2007)
Budget Amount *help
¥15,370,000 (Direct Cost: ¥14,500,000、Indirect Cost: ¥870,000)
Fiscal Year 2007: ¥3,770,000 (Direct Cost: ¥2,900,000、Indirect Cost: ¥870,000)
Fiscal Year 2006: ¥5,300,000 (Direct Cost: ¥5,300,000)
Fiscal Year 2005: ¥6,300,000 (Direct Cost: ¥6,300,000)
KeywordsInformation System / Virtual Reality / Biological Physics / Image Analysis / Haptics
Research Abstract

The purpose of our research is to construct a haptic display system in virtual space, by using measured parameters from Magnetic Resonance Elastography (MRE). This system can contribute to the Virtual Reality (VR) nMedicine. The results in the research period are as follows:
1. About the procedure to estimate viscoelastic parameters from MRE images, we have (1) established a procedure to estimate the parameters accurately, and (2) evaluated the procedure to reduce the influence of reflection waves in MRE images. We have also (3) observed the existence of anisotropic elasticity in tissues such as skeletal muscle, utilizing procedure (1).
2. In order to measure the distributions of force feedback in real space, we have constructed (1) a system to measure the force feedback from real objects utilizing force sensor and haptic device, (2) a system to measure the shapes of objects by range sensor, and (3) a system for automated measurement of force feedback utilizing robot arm. We have also proposed (4) a procedure to estimate the distribution of force feedback from the interpolation of the measured data, and (5) a procedure to display the haptic information from the distribution (4) in real time.
3. We have confirmed from psychophysical evaluation that the characteristics of force feedback of real object can be represented in virtual space by introducing proper elastic parameters.
4. We have found that the relationship among the transitions of position and force in active touch may include the significant information to perceive shapes of objects.

Report

(4 results)
  • 2007 Annual Research Report   Final Research Report Summary
  • 2006 Annual Research Report
  • 2005 Annual Research Report
  • Research Products

    (24 results)

All 2008 2007 2006 2005 Other

All Journal Article (24 results) (of which Peer Reviewed: 7 results)

  • [Journal Article] 計測反力データ群の補間に基づく3次元反力表示システム2008

    • Author(s)
      大牟禮孝弘
    • Journal Title

      日本バーチャルリアリティ学会論文誌 Vol.13(1)

      Pages: 37-48

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
    • Peer Reviewed
  • [Journal Article] Three-dimensional force display system based on the interpolation of measured data2008

    • Author(s)
      T., Ohmure
    • Journal Title

      Trans. VRSJ, with review 13(1)

      Pages: 37-48

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] 計測反力データ群の補間に基づく3次元反力表示システム2008

    • Author(s)
      大牟禮孝弘
    • Journal Title

      日本バーチャルリアリティ学会論文誌 Vol.18

      Pages: 37-48

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Non-Invasive Measurement of In-Vivo Elasticity of Skeletal Muscles with MR-Elastography2007

    • Author(s)
      Y.-B. Kang
    • Journal Title

      Key Engineering Materials Vol.342-343

      Pages: 901-904

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Annual Research Report 2007 Final Research Report Summary
    • Peer Reviewed
  • [Journal Article] Non-invasive measurement of in-vivo-elasticity of skeletal muscles with MR-elastography2007

    • Author(s)
      Y.-B., Kang
    • Journal Title

      Key Engineering Materials, with review 342-343

      Pages: 901-904

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] 位置・速度6次元空間における計測反力データ群の補間関数に基づく3次元反力表示2006

    • Author(s)
      大牟礼孝弘
    • Journal Title

      電子情報通信学会技術研究報告 HIP2005-131

      Pages: 71-76

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary 2005 Annual Research Report
  • [Journal Article] 弾性波あてはめ法によるMR Elastographyからの粘弾性定数の導出2006

    • Author(s)
      笈田武範
    • Journal Title

      電子情報通信学会論文誌D-II Vol. J89-D(10)

      Pages: 2348-2360

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
    • Peer Reviewed
  • [Journal Article] MR Elastographyにおける定常および非定常振動を用いた撮影法の評価2006

    • Author(s)
      笈田武範
    • Journal Title

      生体医工学 44(3)

      Pages: 445-453

    • NAID

      110005716765

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary 2006 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 力覚デバイスを用いた走査軌跡計測に基づく柔軟物体の形状知覚機構解析2006

    • Author(s)
      水田 忍
    • Journal Title

      電子情報通信学会 技術研究報告 HIP2006-46

      Pages: 7-12

    • NAID

      10018631468

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary 2006 Annual Research Report
  • [Journal Article] 能動触による柔軟物体の形状知覚モデル:位置変化と反力変化の関係に基づく形状知覚2006

    • Author(s)
      藤森 友貴
    • Journal Title

      電子情報通信学会 技術研究報告 HIP2006-47

      Pages: 13-18

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] Three-Dimensional force display based on the interpolation of measured data in position-velocity feature space of six dimensions2006

    • Author(s)
      T., Ohmure
    • Journal Title

      Technical Report of IEICE, without review

      Pages: 71-76

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] Estimation of viscoelastic properties from multiple phase MR Elastography using elastic wave fitting method2006

    • Author(s)
      T., Oida
    • Journal Title

      Trans. IEICE, with review Vol. J89-D(10)

      Pages: 2348-2360

    • NAID

      110003171961

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] Comparison of steady-state oscillation and non-stationary oscillation in MR elastography2006

    • Author(s)
      T., Oida
    • Journal Title

      Trans. JSMBE, with review 44(3), 2005-131

      Pages: 445-453

    • NAID

      110005716765

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] Analysis of the mechanism of shape perception of soft objects based on the measurement of trajectories in manipulation of haptic Devices2006

    • Author(s)
      S., Mizuta
    • Journal Title

      Technical Report of IEICE, without review 2006-46

      Pages: 7-12

    • NAID

      10018631468

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] A model of shape perception of soft objects by active touch : shape perception based on the relationship among the transitions of position and force2006

    • Author(s)
      T., Fujimori
    • Journal Title

      Technical Report of IEICE, without review 2006-47

      Pages: 13-18

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] 弾性波あてはめ法によるMR Elastographyからの粘弾性定数の導出2006

    • Author(s)
      笈田 武範
    • Journal Title

      電子情報通信学会論文誌 Vol. J89-D (10)

      Pages: 2348-2360

    • Related Report
      2006 Annual Research Report
  • [Journal Article] 能動触による柔軟物体の形状知覚モデル : 位置変化と反力変化の関係に基づく形状知覚2006

    • Author(s)
      藤森 友貴
    • Journal Title

      電子情報通信学会 技術研究報告 HIP2006-47

      Pages: 13-18

    • Related Report
      2006 Annual Research Report
  • [Journal Article] The measurement of anisotropic elasticity in skeletal muscle using MRElastography2005

    • Author(s)
      T. Oida
    • Journal Title

      Proc. ISMRM2005

      Pages: 2020-2020

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
    • Peer Reviewed
  • [Journal Article] MR Elastography を用いた筋繊維の異方性弾性特性の計測2005

    • Author(s)
      笈田武範
    • Journal Title

      日本磁気共鳴医学会雑誌 Vol.25

      Pages: 208-208

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
    • Peer Reviewed
  • [Journal Article] The measurement of anisotropic elasticity in skeletal muscle using MR Elastography2005

    • Author(s)
      T., Oida
    • Journal Title

      Proc. ISMRM2005, with review

      Pages: 2020-2020

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] Measurement of the characteristics of anisotropic elasticity in skeletal muscle using MR Elastography2005

    • Author(s)
      T., Oida
    • Journal Title

      J. JSMRM, with review Vol. 25

      Pages: 208-208

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] The measurement of anisotropic elasticity in skeletal muscle using MR Elastography2005

    • Author(s)
      T.Oida
    • Journal Title

      Proc.ISMRM2005

      Pages: 2020-2020

    • Related Report
      2005 Annual Research Report
  • [Journal Article] MR Elastographyを用いた筋繊維の異方性弾性特性の計測2005

    • Author(s)
      笈田武範
    • Journal Title

      日本磁気共鳴医学会雑誌 Vol.25

      Pages: 208-208

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 弾性波あてはめ法によるMR Elastographyからの粘弾性定数の導出

    • Author(s)
      笈田武範
    • Journal Title

      電子情報通信学会論文誌D-II (採録決定)

    • Related Report
      2005 Annual Research Report

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Published: 2005-04-01   Modified: 2016-04-21  

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