Active Estimation of Friction Properties with Haptic Vision

摘要

Frictional information is important for manipulating and representing real behavior of objects in a virtual space via haptic devices. In this paper we propose an active and automatic extraction method of friction properties based on Haptic Vision; we estimate the parameters of friction models such as LuGre model, Coulomb model, Dhal model, by analyzing observed shape and force data obtained by Haptic Vision and then evaluate the performance of each friction model.