Real time stiffness display interface device for perception of virtual soft object

Aiguo Song*, Aiguo Song Dan Morris, J. Edward Colgate, Michael A. Peshkin

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 Scopus citations

Abstract

A novel method based on deformable length of elastic element control (DLEEC) to realize the stiffness display for perception of virtual soft object is proposed, and the stiffness display interface device has been developed and is presented. The stiffness display interface device is composed of a thin elastic beam and an actuator to adjust the length of the beam. The deformation of the beam under a force is proportional to the third power of the beam length. By controlling the beam length, the stiffness display device can reproduce the stiffness of the virtual object from very soft to hard, so that the human fingertip can feel it as if he directly touches with the virtual object by interacting with the device. A real time position control algorithm is employed to guarantee the real time stiffness display.

Original languageEnglish (US)
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Pages139-143
Number of pages5
ISBN (Print)0780389123, 9780780389120
DOIs
StatePublished - 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Keywords

  • Haptic
  • Stiffness display
  • Teleoperation
  • Virtual reality

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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