Object deformation and force feedback for virtual chopsticks

Authors:
Yoshifumi Kitamura;Ken'ichi Douko;Makoto Kitayama;Fumio Kishino
Affiliations:
Osaka University, Osaka, Japan;Osaka University, Osaka, Japan and Hitachi Ltd.;Osaka University, Osaka, Japan and NTT Data Corporation;Osaka University, Osaka, Japan
Venue:
Proceedings of the ACM symposium on Virtual reality software and technology
Year:
2005

Citing 14
Cited 0

Artificial reality with force-feedback: development of desktop virtual space with compact master manipulator

SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Project GROPEHaptic displays for scientific visualization

SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
A multi-sensor approach for grasping and 3D interaction

Computer graphics
A study of virtual manipulation of elastic objects

Computer graphics
Evaluation of the CyberGlove as a whole-hand input device

ACM Transactions on Computer-Human Interaction (TOCHI)
Force and touch feedback for virtual reality

Force and touch feedback for virtual reality
Vibrotactile feedback in delicate virtual reality operations

MULTIMEDIA '96 Proceedings of the fourth ACM international conference on Multimedia
Virtual Chopsticks: Object Manipulation using Multiple Exact Interactions

VR '99 Proceedings of the IEEE Virtual Reality
Dynamic Deformable Models for Enhanced Haptic Rendering in Virtual Environments

VR '00 Proceedings of the IEEE Virtual Reality 2000 Conference
Passive Force Display Using ER Brakes and its Control Experiments

VR '01 Proceedings of the Virtual Reality 2001 Conference (VR'01)
Finite Element Methods for Real-Time Haptic Feedback of Soft-Tissue Models in Virtual Reality Simulators

VR '01 Proceedings of the Virtual Reality 2001 Conference (VR'01)
Integration of the Rutgers Master II in a virtual reality simulation

VRAIS '95 Proceedings of the Virtual Reality Annual International Symposium (VRAIS'95)
Food Simulator: A Haptic Interface for Biting

VR '04 Proceedings of the IEEE Virtual Reality 2004
Haptic Representation of Elastic Objects

Presence: Teleoperators and Virtual Environments

Quantified Score

Hi-index	0.00

Visualization

Abstract

This paper proposes a virtual chopsticks system using force feedback and object deformation with FEM (finite element model). The force feedback model is established by using a leverage based on the correct chopsticks handling manner, and the force is applied to the index and middle finger. The object deformation is obtained in real-time by calculating inverse stiffness matrix beforehand. We performed experiments to compare the hardness of virtual objects. As a result, we found that a recognition rate of almost 100% can be achieved between virtual objects where the logarithmic difference in hardness is 0.4 or more, while lower recognition rates are obtained when the difference in hardness is smaller than this.