Friction modeling and display in haptic applications involving user performance

Richard, Christopher; Cutkosky, Mark R.

doi:10.1109/robot.2002.1013425

Cited by 21 publications

(17 citation statements)

References 23 publications

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“…Richard [7] used a version of the Dahl model [12] and Karnopp model to identify friction of aluminium block sliding on hard rubber, teflon and brass and also to display friction in one dimension. The author suggested the Karnopp model rather than the Dahl model for haptic display, because it allows the simplest entree into haptic friction identification and accurately capture stiction.…”

Section: Friction Modelmentioning

confidence: 99%

“…Furthermore, the surfaces with greater friction will request more effort when interacting with object. Friction models have already been presented in haptics [7], [8], [9], where the identification of friction and haptic rendering of friction is extensively described. The mentioned studies were focused on the friction models and rendering of these models.…”

Section: Introductionmentioning

confidence: 99%

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Identifying and presenting friction properties of materials using a haptic robot

Ziherl

Munih

2012

2012 4th IEEE RAS &Amp; EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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Parameters of a dynamic friction model were estimated for the contact of a steel end-effector with six different materials: wood (spruce), jersey (polyester), shorts (Lycra R ), paper 80 g/m 2 , paper 160 g/m 2 , glass. The predefined sinusoidal movement and the normal direction load force were provided by a Phantom haptic interface. A 3-axis force sensor directly measures the force between the robot end-effector and the surface. The modified Dahl model with extension of damping and serial spring was used to describe the friction of selected materials. The friction model includes five parameters: Coulomb friction, stiffness coefficient, offset, damping and stiffness. Optimization was used to determine the parameters of friction model that best fit the experimental data. The modified Dahl model was found to accurately describe the friction properties of the materials and should be used in haptic models to present the properties of materials to users in virtual environments. A virtual task that uses friction model and estimated parameters of different materials has been developed. Eight subjects performed the task in virtual and real environment. Correct and incorrect answers were observed to find out subject ability to separate between different materials. The experiment showed that subjects had more problems distinguishing different friction properties of the materials in the virtual environment. These friction properties will be studied in the future to maximize the subject perception of different materials.

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Section: Friction Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Identifying and presenting friction properties of materials using a haptic robot

Ziherl

Munih

2012

2012 4th IEEE RAS &Amp; EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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“…The rendering of friction forces in a haptic environment has received significant attention and has been found to improve the performance of haptic-interface controlled tasks (see, for example, [20]). Realistic friction, however, is a subtle property of materials and changes in friction have to be relatively large in order to be perceived by a user [23].…”

Section: Super-slippery Surfacementioning

confidence: 99%

Expressive haptic rendering with cartoon-inspired effects

Gleeson

Johnson

2010

2010 IEEE Haptics Symposium

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Non-photorealistic rendering (NPR) rejects a rigid adherence to physically accurate creation of visual imagery in favor of expressive styles that can enhance information transfer or create an artistic feeling. This paper considers those goals in the context of haptic rendering. Expressive haptic rendering techniques are developed for cartoon-inspired haptic rendering effects and demonstrated in three classic cartoon scenarios: super-slippery surfaces, exaggerated recoil and vibration upon hitting an object, and falling from a height based on a character's awareness of danger. Subjectively, these effects create increased interest in a scene and can facilitate transfer of artistic goals to a user. The value of expressive haptic rendering derives from this enhanced interaction experience.

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“…Haptic display can be classified into the following types: texture display, friction display, shape display, softness display, temperature display, etc. Previous researches on haptic display mainly focused on texture display (Lkei et al, 2001), friction display (Richard, Cutkosky, 2002) and shape display (Kammermeier et al, 2000). Only a few researches dealt with softness display, which consists of stiffness display and compliance display.…”

Section: Introductionmentioning

confidence: 99%