Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 01, 2022 - June 04, 2022
In this paper, we constructed a point cloud data including stiffness values based on contact information, and used the values to interpolate and restore the deformation of the point cloud. Currently, contact type 3D shape measurement is not mainstream due to factors such as low data collection efficiency and deformation of the object upon contact. However, we thought that using the contact information would improve the interpolation accuracy of the acquired point cloud and recover the deformation caused by contact. Therefore, we collected data and calculated the stiffness by 4-channel bilateral control using a haptic device, and applied it to interpolation and restoration. As a result of the experiment, it is demonstrated that the interpolation is more accurate than the inverse distance weighting method, which is a common method, and that the shape can be restored.
