A Proposal of Real-time Haptization System for Untouchable Objects

Abstract

This paper proposes a haptization system that allows the blind to touch untouchable objects. A stereo vision system is adopted to get the range data that represent the untouchable objects. A tension based haptic display, that is a point contact type, is used to present the shape to the blind. The method that transforms range data into smooth surface is described. The communication between the stereo vision system and the haptic display is discussed to realize real-lime touch. The experimental system has been developed to evaluate the proposed system.