Surface Contact Interaction with Dynamically Deformable Object Using Impulse-Based Approach

Authors:
Kazuyoshi Tagawa;Koichi Hirota;Michitaka Hirose
Affiliations:
Intelligent Modeling Laboratory, The University of Tokyo, Japan;Graduate School of Frontier Sciences, The University of Tokyo, Japan;Intelligent Modeling Laboratory, The University of Tokyo, Japan
Venue:
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
Year:
2008

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Abstract

In our previous study, a method that allows dynamic interaction with an elastic object, which is called impulse response deformation model, has been proposed. An advantage of the method is that the order of complexity is lower than other approaches that solve equations of deformation models in real time; hence the method enables haptic interaction with more complex object. In this paper, an extension of the model that enables efficient computation of elastic deformation in interaction with surfaces, such as floor and wall, is discussed; unlike point-based interaction in our previous studies, pre-recorded response to impulse force that is applied by surface rather than point is used for the computation.