Acquisition of elastically deformable object model based on measurement

Authors:
Koichi Hirota;Kazuyoshi Tagawa
Affiliations:
Graduate School of Frontier Sciences, The University of Tokyo, Japan;Ritsumeikan Global Innovation Research Organization, Ritsumeikan University, Japan
Venue:
EuroHaptics'12 Proceedings of the 2012 international conference on Haptics: perception, devices, mobility, and communication - Volume Part I
Year:
2012

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Abstract

This paper describes an approach to acquiring impulse response deformation model (IRDM) through measurement on a real deformable object. A step-wise input force is applied onto a node by an air jet; the responding deformation is recorded by measuring the node's motion using a stereo camera. In addition, the impulse response is computed from the step response. Measurement of actual object in the shape of dome and rectangular prism was performed. Also, an experiment that evaluates stiffness and temporal deformation of the obtained model was carried out, and similarity of the model to the real object was confirmed.