Material Property Setting Method for Realistic Haptic Rendering

摘要

This paper proposes a method for determining materialrnproperty of a haptic model which represents the hapticrnbehavior of a target object. For evaluating the proposedrnmethod, we construct a real-time palpation prototypernsimulator. In this system, feedback force is computed by thernamount of user's interaction and the material property of therntarget object. In this work, a human liver is selected as arntarget object and the liver is represented by Shape-retainingrnChain Linked Model(S-chain model) for satisfying the realtimernperformance. We conduct experiments whether a userrneasily distinguishes abnormal portions from normal portions.rnFrom the experimental results, we evaluate that the proposedrnmethod provides the realistic force to users in real-time.