抄録
In this paper, we firstly push or pull real and virtual rheology objects by the same sequence of displacements or forces. Then by minimizing the sum of differences between shape or force sequences of real and virtual objects, we calibrate many parameters of rheology MSD (Mass-Spring-Damper) model, pull-off force model and friction force model between a rigid object and its pushed or pulled rheology object. The calibration is processed by a near-optimal probabilistic search (genetic algorithm). In this paper, we firstly consider eight combinations which rheology objects are pushed, calibrated, evaluated by shape sequence, and pushed, calibrated, evaluated by force sequence, After completely comparing all the possibilities, we get the best visual reality under push and calibration by shape sequence, and also the wonderful tactile reality under push and calibration by force sequence. Moreover, we ascertain reappearance of force or shape sequence even though sensing data (pushing operation) in calibration differs from sensing data (pushing operation) in evaluation.
