A Method for Abstraction and Reproduction of Environment Based on Frequency Characteristic

Abstract

With an advancement of information technology, record and reproduction technologies of sound and image have been improved. On the other hand, record and reproduction technologies of haptic display are developing. This paper proposes a method for abstraction and reproduction of environmental stiffness based on frequency characteristic. In the proposed method, environmental position response from force input is measured. Then, Fourier transformed position response divided by Fourier transformed force input is calculated for abstracting environmental frequency characteristic. Control system for the reproduction of environment is designed based on the abstracted environmental frequency characteristic. Finite Impulse Response (FIR) filter is utilized for the reproduction of environmental frequency characteristic. Finally, the validity of the proposed method is shown by experimental results.