International Journal of Robotics Research
Haptic augmented reality: Taxonomy and an example of stiffness modulation
Presence: Teleoperators and Virtual Environments
User-based evaluation of data-driven haptic rendering
ACM Transactions on Applied Perception (TAP)
Presence: Teleoperators and Virtual Environments
Real stiffness augmentation for haptic augmented reality
Presence: Teleoperators and Virtual Environments
Acquisition of elastically deformable object model based on measurement
EuroHaptics'12 Proceedings of the 2012 international conference on Haptics: perception, devices, mobility, and communication - Volume Part I
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In this article we present extensions of our earlier work on data-driven haptic rendering. Haptic feedback is generated directly by interpolating measured data. The selection of appropriate data dimensions is guided by the structure of the generalized Maxwell model. Material elasticity and viscosity are reproduced, including transient material effects like stress relaxation. All these properties can be nonlinear and mutually dependent. Besides visco-elastic bodies, we also apply our method to viscous fluids. We present results for several materials and compare the errors of the interpolated forces with perceptual thresholds reported in the literature. Moreover, we examine how these errors behave if different subjects perform the recordings on which the data-driven haptic feedback is based.