Please use this identifier to cite or link to this item: http://localhost/handle/Hannan/584931
Title: Data-Driven Haptic Modeling and Rendering of Viscoelastic and Frictional Responses of Deformable Objects
Authors: Sunghoon Yim;Seokhee Jeon;Seungmoon Choi
subject: Haptic rendering|deformable object|measurement-based modeling
Year: 2016
Publisher: IEEE
Abstract: In this paper, we present an extended data-driven haptic rendering method capable of reproducing force responses during pushing and sliding interaction on a large surface area. The main part of the approach is a novel input variable set for the training of an interpolation model, which incorporates the position of a proxy – an imaginary contact point on the undeformed surface. This allows us to estimate friction in both sliding and sticking states in a unified framework. Estimating the proxy position is done in real-time based on simulation using a sliding yield surface – a surface defining a border between the sliding and sticking regions in the external force space. During modeling, the sliding yield surface is first identified via an automated palpation procedure. Then, through manual palpation on a target surface, input data and resultant force data are acquired. The data are used to build a radial basis interpolation model. During rendering, this input-output mapping interpolation model is used to estimate force responses in real-time in accordance with the interaction input. Physical performance evaluation demonstrates that our approach achieves reasonably high estimation accuracy. A user study also shows plausible perceptual realism under diverse and extensive exploration.
Description: 
URI: http://localhost/handle/Hannan/166100
http://localhost/handle/Hannan/584931
ISSN: 1939-1412
volume: 9
issue: 4
Appears in Collections:2016

Files in This Item:
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Title: Data-Driven Haptic Modeling and Rendering of Viscoelastic and Frictional Responses of Deformable Objects
Authors: Sunghoon Yim;Seokhee Jeon;Seungmoon Choi
subject: Haptic rendering|deformable object|measurement-based modeling
Year: 2016
Publisher: IEEE
Abstract: In this paper, we present an extended data-driven haptic rendering method capable of reproducing force responses during pushing and sliding interaction on a large surface area. The main part of the approach is a novel input variable set for the training of an interpolation model, which incorporates the position of a proxy – an imaginary contact point on the undeformed surface. This allows us to estimate friction in both sliding and sticking states in a unified framework. Estimating the proxy position is done in real-time based on simulation using a sliding yield surface – a surface defining a border between the sliding and sticking regions in the external force space. During modeling, the sliding yield surface is first identified via an automated palpation procedure. Then, through manual palpation on a target surface, input data and resultant force data are acquired. The data are used to build a radial basis interpolation model. During rendering, this input-output mapping interpolation model is used to estimate force responses in real-time in accordance with the interaction input. Physical performance evaluation demonstrates that our approach achieves reasonably high estimation accuracy. A user study also shows plausible perceptual realism under diverse and extensive exploration.
Description: 
URI: http://localhost/handle/Hannan/166100
http://localhost/handle/Hannan/584931
ISSN: 1939-1412
volume: 9
issue: 4
Appears in Collections:2016

Files in This Item:
File Description SizeFormat 
7476889.pdf1.37 MBAdobe PDFThumbnail
Preview File
Title: Data-Driven Haptic Modeling and Rendering of Viscoelastic and Frictional Responses of Deformable Objects
Authors: Sunghoon Yim;Seokhee Jeon;Seungmoon Choi
subject: Haptic rendering|deformable object|measurement-based modeling
Year: 2016
Publisher: IEEE
Abstract: In this paper, we present an extended data-driven haptic rendering method capable of reproducing force responses during pushing and sliding interaction on a large surface area. The main part of the approach is a novel input variable set for the training of an interpolation model, which incorporates the position of a proxy – an imaginary contact point on the undeformed surface. This allows us to estimate friction in both sliding and sticking states in a unified framework. Estimating the proxy position is done in real-time based on simulation using a sliding yield surface – a surface defining a border between the sliding and sticking regions in the external force space. During modeling, the sliding yield surface is first identified via an automated palpation procedure. Then, through manual palpation on a target surface, input data and resultant force data are acquired. The data are used to build a radial basis interpolation model. During rendering, this input-output mapping interpolation model is used to estimate force responses in real-time in accordance with the interaction input. Physical performance evaluation demonstrates that our approach achieves reasonably high estimation accuracy. A user study also shows plausible perceptual realism under diverse and extensive exploration.
Description: 
URI: http://localhost/handle/Hannan/166100
http://localhost/handle/Hannan/584931
ISSN: 1939-1412
volume: 9
issue: 4
Appears in Collections:2016

Files in This Item:
File Description SizeFormat 
7476889.pdf1.37 MBAdobe PDFThumbnail
Preview File