Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers
The 49th Annual Conference of the Institute of Systems, Control and Information Engineers
Session ID : 7C4-4
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Friction Force Display in Virtual Environment for Experiments of Indirect Shape Perception
*Yoshihiro Kuroda, Megumi Nakao, Tomohiro Kuroda, Hiroshi Oyama, Hiroyuki Yoshihara
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Keywords: Virtual reality, Haptic display, Friction force, Medical application
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Abstract
The aim of this study is to develop a simulator enabling a palpation skill for identifying tumor region. Shape perception is significant in a situation of indirect touch for the aim. Friction forces make an important role considering a foregoing report. This paper proposes a friction model, which gives stable and proper friction forces proportional to normal forces in a situation of indirect touch. The results of experiments indicated that the proposed friction model enhanced accuracy of indirect perception of convex shape.
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© 2005 The Institute of Systems, Control and Information Engineers
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