Dynamic simulation and virtual control of a deformable fingertip

Reznik, Dan; Laugier, C.

doi:10.1109/robot.1996.506952

Cited by 25 publications

(12 citation statements)

References 17 publications

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“…Many researchers [21] use a spring model or FEM in order to represent a deformable finger pad. Therefore, we modeled the human's finger pad as a spring.…”

Section: Area-based Haptic Rendering For a Palpation Simulatormentioning

confidence: 99%

Real-time area-based haptic rendering and the augmented tactile display device for a palpation simulator

Kim

Kyung

Park³

et al. 2007

Advanced Robotics

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Although people usually contact a surface with some area rather than a point, most haptic devices allow a user to interact with a virtual object at one point at a time and likewise most haptic rendering algorithms deal with such situations only. In a palpation procedure, medical doctors push and rub the organ's surface, and are provided the sensation of distributed pressure and contact force (reflecting force) for discerning doubtable areas of the organ. In this paper, we suggest real-time area-based haptic rendering to describe distributed pressure and contact force simultaneously, and present a haptic interface system to generate surface properties in accordance with the haptic rendering algorithm. We represent the haptic model using the shape-retaining chain link (S-chain) framework for a fast and stable computation of the contact force and distributed pressure from a volumetric virtual object. In addition, we developed a compact pin-array-type tactile display unit and attached it to the PHANToM TM haptic device to complement each other. For the evaluation, experiments were conducted with non-homogenous volumetric cubic objects consisting of approximately 500 000 volume elements. The experimental results show that compared to the point contact, the area contact provides the user with more precise perception of the shape and softness of the object's composition, and that our proposed system satisfies the real-time and realism constraints to be useful for a virtual reality application.

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“…Many researchers [21] use a spring model or FEM in order to represent a deformable finger pad. Therefore, we modeled the human's finger pad as a spring.…”

Section: Area-based Haptic Rendering For a Palpation Simulatormentioning

confidence: 99%

Real-time area-based haptic rendering and the augmented tactile display device for a palpation simulator

Kim

Kyung

Park³

et al. 2007

Advanced Robotics

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“…Designing controllers for robotic fingers with soft tips has also been a highly active area of research. Reznik et al [9] proposed a mass-spring model for deformable fingertips and design a controller able to interact with the model in real time. The problem of controlling a robotic finger when the dynamic properties of the soft fingertip are unknown is discussed in [10], using sensory feedback to design a controller that can learn the characteristics of the fingertip and apply the desired level of force on the grasped object.…”

Section: Related Workmentioning

confidence: 99%

Grasp analysis using deformable fingers

Ciocarlie

Miller

Allen

2005

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-The human hand is unrivaled in its ability to grasp and manipulate objects, but we still do not understand all of its complexities. One benefit it has over traditional robot hands is the fact that our fingers conform to a grasped object's shape, giving rise to larger contact areas and the ability to apply larger frictional forces. In this paper, we demonstrate how we have extended our simulation and analysis system with finite element modeling to allow us to evaluate these complex contact types. We also propose a new contact model that better accounts for the deformations and show how grasp quality is affected. This work is part of a larger project to understand the benefits the human hand has in grasping.

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“…Currently there are some efforts which focus on virtual control prototyping in which a user interacts with a virtual deformable object in the exact same way they would interact with the physical object [9] [l]. The main limitation with these techniques are the same which face the robotic world.…”

Section: Ence Of Environments With Compliant Properties [5] [4]mentioning

confidence: 99%

“…Reznik and Laugier's simulated the deformation of a "virtual" deformable finger as it was pressed against a rigid surface [9]. We shall utilize Reznik and Laugier's algorithm as a basis for simulating the deformation of a "virtual" deformable object as the rigid surface of the manipulators is pressed against it.…”

Section: A Simulationmentioning

confidence: 99%

Intelligent learning for deformable object manipulation

Howard

Bekey

Proceedings 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation. CIRA'99 (Cat. No.99EX37

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The majority of manipulation systems are designed with the assumption that the objects'being handled are rigid and do not deform when grasped. This paper addresses the problem of robotic grasping and manipulation of 3-D deformable objects, such as rubber balls or bags filled with sand.' Specifically, we have developed a generalized learning algorithm for handling of 3-D deformable objects in which prior knowledge of object attributes is not required and thus it can be applied t o a large class of object types. Our methodology relies on the implementation of two main tasks. Our first task is t o calculate deformation characteristics for a non-rigid object represented by a physically-based model. Using nonlinear partial differential equations, we model the particle motion of the deformable object in order t o calculate the deformation characteristics. For our second task, we must calculate the minimum force required t o successfully lift the deformable object. This minimum lifting force can be learned using a technique called 'iterative lifting'. Once the deformation characteristics and the associated lifting force term are determined, they are used to train a neural network for extracting the minimum force required for subsequent deformable object manipulation tasks. Our developed algorithm is validated with two sets of experiments. The first experimental results are derived from the implementation of the algorithm in a simulated environment. The second set involves a physical implementation of the technique whose outcome is compared with the simulation results t o test the real world validity of the developed methodology.

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Dynamic simulation and virtual control of a deformable fingertip

Cited by 25 publications

References 17 publications

Real-time area-based haptic rendering and the augmented tactile display device for a palpation simulator

Real-time area-based haptic rendering and the augmented tactile display device for a palpation simulator

Grasp analysis using deformable fingers

Intelligent learning for deformable object manipulation

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