Display of the operating feel of dynamic virtual objects with frictional surfaces
Identifieur interne : 009511 ( Main/Merge ); précédent : 009510; suivant : 009512Display of the operating feel of dynamic virtual objects with frictional surfaces
Auteurs : T. Yoshikawa [Japon] ; X. Z. Zheng ; T. MoriguchiSource :
- International Journal of Robotics Research [ 0278-3649 ] ; 1997.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Réalité virtuelle.
English descriptors
Abstract
An approach for displaying the feel of manipulating dynamic virtual objects with frictional surfaces using a haptic display device is introduced. A unified description of the dynamics of virtual objects based on the Lagrangian formulation is derived. The detection of the grasp states, and the friction effects at the grasp points on virtual object surfaces, which are important to help us recognize an object and handle it more dexterously, are treated explicitly. Display algorithms are provided that create and present to the operator the dynamic operating feel of an object as well as the friction feel on the object's surface. Experimental verification on the proposed approaches is performed, and its results are outlined.
Links toward previous steps (curation, corpus...)
- to stream PascalFrancis, to step Corpus: 001651
- to stream PascalFrancis, to step Curation: 001470
- to stream PascalFrancis, to step Checkpoint: 001429
Links to Exploration step
Pascal:97-0517494Le document en format XML
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<author><name sortKey="Yoshikawa, T" sort="Yoshikawa, T" uniqKey="Yoshikawa T" first="T." last="Yoshikawa">T. Yoshikawa</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Kyoto Univ</s1>
<s2>Kyoto</s2>
<s3>JPN</s3>
<sZ>1 aut.</sZ>
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<country>Japon</country>
<wicri:noRegion>Kyoto Univ</wicri:noRegion>
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<author><name sortKey="Zheng, X Z" sort="Zheng, X Z" uniqKey="Zheng X" first="X. Z." last="Zheng">X. Z. Zheng</name>
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<author><name sortKey="Moriguchi, T" sort="Moriguchi, T" uniqKey="Moriguchi T" first="T." last="Moriguchi">T. Moriguchi</name>
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<author><name sortKey="Yoshikawa, T" sort="Yoshikawa, T" uniqKey="Yoshikawa T" first="T." last="Yoshikawa">T. Yoshikawa</name>
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<series><title level="j" type="main">International Journal of Robotics Research</title>
<title level="j" type="abbreviated">Int J Rob Res</title>
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<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Algorithms</term>
<term>Display devices</term>
<term>Friction</term>
<term>Lagrangian formulation</term>
<term>Theory</term>
<term>Virtual reality</term>
</keywords>
<keywords scheme="Pascal" xml:lang="fr"><term>Théorie</term>
<term>Dispositif affichage</term>
<term>Frottement</term>
<term>Algorithme</term>
<term>Réalité virtuelle</term>
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<front><div type="abstract" xml:lang="en">An approach for displaying the feel of manipulating dynamic virtual objects with frictional surfaces using a haptic display device is introduced. A unified description of the dynamics of virtual objects based on the Lagrangian formulation is derived. The detection of the grasp states, and the friction effects at the grasp points on virtual object surfaces, which are important to help us recognize an object and handle it more dexterously, are treated explicitly. Display algorithms are provided that create and present to the operator the dynamic operating feel of an object as well as the friction feel on the object's surface. Experimental verification on the proposed approaches is performed, and its results are outlined.</div>
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