HapticV1, PascalFrancis, Corpus, bibRecord, 000D31

Extracting rheological properties of deformable objects with haptic vision

Identifieur interne : 000D31 ( PascalFrancis/Corpus ); précédent : 000D30; suivant : 000D32

Extracting rheological properties of deformable objects with haptic vision

Auteurs : Naoki Ueda ; Shin-Iti Hirai ; Hiromi T. Tanaka

Source :

RBID : Pascal:06-0270323

Descripteurs français

Pascal (Inist)
- Orienté objet, Robotique, Commande force, Rétroaction, Rhéologie, Corps déformable, Sensibilité tactile, Vision ordinateur, Réalité virtuelle, Simulateur, Main, Détecteur proximité, Mesure distance, Capteur force, Extraction paramètre, Image tridimensionnelle, Mesure force.

English descriptors

KwdEn :
- Computer vision, Deformable body, Distance measurement, Feedback regulation, Force control, Force measurement, Force transducer, Hand, Object oriented, Parameter extraction, Proximity detector, Rheology, Robotics, Simulator, Tactile sensitivity, Tridimensional image, Virtual reality.

Abstract

In this paper, we propose a novel approach to extracting rheological properties of deformable objects based on Haptic vision, which was proposed for vision-based automatic construction of virtual environment simulators. The method consists of two parts: 1) the "touch and see" part to cause deformation behavior by exerting known contact force on the object using a robot hand, and then observe how the deformed shape return to the original after contact force is removed, using a range sensor and a force-feedback sensor mounted on the robot hand, 2) the analysis and parameter extraction part from the acquired range images and force-feed back data. Experimental results using springs and wheat dough demonstrated the validity and effectiveness of the proposed approach to viscoelastic parameter extraction of rheological objects.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

A08	`01`	`1`	`ENG`	`@1 Extracting rheological properties of deformable objects with haptic vision`
A09	`01`	`1`	`ENG`	`@1 2004 IEEE International Conference on Robotics and Automation : April 26-May 1, 2004, Hilton New Orleans Riverside, New Orleans, LA, USA : Proceedings`
A11	`01`	`1`		`@1 UEDA (Naoki)`
A11	`02`	`1`		`@1 HIRAI (Shin-Iti)`
A11	`03`	`1`		`@1 TANAKA (Hiromi T.)`
A14	`01`			`@1 Department of Computer Science, Ritsumeikan University, 1-1-1 Noji-higashi @2 Kusatsu Shiga @3 JPN @Z 1 aut. @Z 3 aut.`
A14	`02`			`@1 Department of Robotics, Ritsumeikan University, 1-1-1 Noji-higashi @2 Kusatsu Shiga @3 JPN @Z 2 aut.`
A18	`01`	`1`		`@1 IEEE Robotics and automation society @3 USA @9 org-cong.`
A20				`@1 3902-3907`
A21				`@1 2004`
A23	`01`			`@0 ENG`
A25	`01`			`@1 IEEE @2 Piscataway NJ`
A26	`01`			`@0 0-7803-8232-3`
A30	`01`	`1`	`ENG`	`@1 IEEE International Conference on Robotics and Automation @2 21 @3 New Orleans LA USA @4 2004`
A43	`01`			`@1 INIST @2 Y 38842 @5 354000153471326260`
A44				`@0 0000 @1 © 2006 INIST-CNRS. All rights reserved.`
A45				`@0 12 ref.`
A47	`01`	`1`		`@0 06-0270323`
A60				`@1 C`
A61				`@0 A`
A66	`01`			`@0 USA`
C01	`01`		`ENG`	@0 In this paper, we propose a novel approach to extracting rheological properties of deformable objects based on Haptic vision, which was proposed for vision-based automatic construction of virtual environment simulators. The method consists of two parts: 1) the "touch and see" part to cause deformation behavior by exerting known contact force on the object using a robot hand, and then observe how the deformed shape return to the original after contact force is removed, using a range sensor and a force-feedback sensor mounted on the robot hand, 2) the analysis and parameter extraction part from the acquired range images and force-feed back data. Experimental results using springs and wheat dough demonstrated the validity and effectiveness of the proposed approach to viscoelastic parameter extraction of rheological objects.
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C03	`01`	`X`	`ENG`	`@0 Object oriented @5 06`
C03	`01`	`X`	`SPA`	`@0 Orientado objeto @5 06`
C03	`02`	`X`	`FRE`	`@0 Robotique @5 07`
C03	`02`	`X`	`ENG`	`@0 Robotics @5 07`
C03	`02`	`X`	`SPA`	`@0 Robótica @5 07`
C03	`03`	`X`	`FRE`	`@0 Commande force @5 08`
C03	`03`	`X`	`ENG`	`@0 Force control @5 08`
C03	`03`	`X`	`SPA`	`@0 Control fuerza @5 08`
C03	`04`	`X`	`FRE`	`@0 Rétroaction @5 09`
C03	`04`	`X`	`ENG`	`@0 Feedback regulation @5 09`
C03	`04`	`X`	`SPA`	`@0 Retroacción @5 09`
C03	`05`	`X`	`FRE`	`@0 Rhéologie @5 18`
C03	`05`	`X`	`ENG`	`@0 Rheology @5 18`
C03	`05`	`X`	`SPA`	`@0 Reología @5 18`
C03	`06`	`X`	`FRE`	`@0 Corps déformable @5 19`
C03	`06`	`X`	`ENG`	`@0 Deformable body @5 19`
C03	`06`	`X`	`SPA`	`@0 Cuerpo deformable @5 19`
C03	`07`	`X`	`FRE`	`@0 Sensibilité tactile @5 20`
C03	`07`	`X`	`ENG`	`@0 Tactile sensitivity @5 20`
C03	`07`	`X`	`SPA`	`@0 Sensibilidad tactil @5 20`
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C03	`09`	`X`	`FRE`	`@0 Réalité virtuelle @5 22`
C03	`09`	`X`	`ENG`	`@0 Virtual reality @5 22`
C03	`09`	`X`	`SPA`	`@0 Realidad virtual @5 22`
C03	`10`	`X`	`FRE`	`@0 Simulateur @5 23`
C03	`10`	`X`	`ENG`	`@0 Simulator @5 23`
C03	`10`	`X`	`SPA`	`@0 Simulador @5 23`
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C03	`11`	`X`	`ENG`	`@0 Hand @5 24`
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C03	`12`	`X`	`FRE`	`@0 Détecteur proximité @5 25`
C03	`12`	`X`	`ENG`	`@0 Proximity detector @5 25`
C03	`12`	`X`	`SPA`	`@0 Detector proximidad @5 25`
C03	`13`	`3`	`FRE`	`@0 Mesure distance @5 26`
C03	`13`	`3`	`ENG`	`@0 Distance measurement @5 26`
C03	`14`	`X`	`FRE`	`@0 Capteur force @5 27`
C03	`14`	`X`	`ENG`	`@0 Force transducer @5 27`
C03	`14`	`X`	`SPA`	`@0 Transductor fuerza @5 27`
C03	`15`	`X`	`FRE`	`@0 Extraction paramètre @5 28`
C03	`15`	`X`	`ENG`	`@0 Parameter extraction @5 28`
C03	`15`	`X`	`SPA`	`@0 Extracción parámetro @5 28`
C03	`16`	`X`	`FRE`	`@0 Image tridimensionnelle @5 29`
C03	`16`	`X`	`ENG`	`@0 Tridimensional image @5 29`
C03	`16`	`X`	`SPA`	`@0 Imagen tridimensional @5 29`
C03	`17`	`X`	`FRE`	`@0 Mesure force @5 41`
C03	`17`	`X`	`ENG`	`@0 Force measurement @5 41`
C03	`17`	`X`	`SPA`	`@0 Medición esfuerzo @5 41`
N21				`@1 170`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

Format Inist (serveur)

NO :	PASCAL 06-0270323 INIST
ET :	Extracting rheological properties of deformable objects with haptic vision
AU :	UEDA (Naoki); HIRAI (Shin-Iti); TANAKA (Hiromi T.)
AF :	Department of Computer Science, Ritsumeikan University, 1-1-1 Noji-higashi/Kusatsu Shiga/Japon (1 aut., 3 aut.); Department of Robotics, Ritsumeikan University, 1-1-1 Noji-higashi/Kusatsu Shiga/Japon (2 aut.)
DT :	Congrès; Niveau analytique
SO :	IEEE International Conference on Robotics and Automation/21/2004/New Orleans LA USA; Etats-Unis; Piscataway NJ: IEEE; Da. 2004; Pp. 3902-3907; ISBN 0-7803-8232-3
LA :	Anglais
EA :	In this paper, we propose a novel approach to extracting rheological properties of deformable objects based on Haptic vision, which was proposed for vision-based automatic construction of virtual environment simulators. The method consists of two parts: 1) the "touch and see" part to cause deformation behavior by exerting known contact force on the object using a robot hand, and then observe how the deformed shape return to the original after contact force is removed, using a range sensor and a force-feedback sensor mounted on the robot hand, 2) the analysis and parameter extraction part from the acquired range images and force-feed back data. Experimental results using springs and wheat dough demonstrated the validity and effectiveness of the proposed approach to viscoelastic parameter extraction of rheological objects.
CC :	001D02D11; 001B40F30C
FD :	Orienté objet; Robotique; Commande force; Rétroaction; Rhéologie; Corps déformable; Sensibilité tactile; Vision ordinateur; Réalité virtuelle; Simulateur; Main; Détecteur proximité; Mesure distance; Capteur force; Extraction paramètre; Image tridimensionnelle; Mesure force
ED :	Object oriented; Robotics; Force control; Feedback regulation; Rheology; Deformable body; Tactile sensitivity; Computer vision; Virtual reality; Simulator; Hand; Proximity detector; Distance measurement; Force transducer; Parameter extraction; Tridimensional image; Force measurement
SD :	Orientado objeto; Robótica; Control fuerza; Retroacción; Reología; Cuerpo deformable; Sensibilidad tactil; Visión ordenador; Realidad virtual; Simulador; Mano; Detector proximidad; Transductor fuerza; Extracción parámetro; Imagen tridimensional; Medición esfuerzo
LO :	INIST-Y 38842.354000153471326260
ID :	06-0270323

Links to Exploration step

Pascal:06-0270323

Le document en format XML

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<front><div type="abstract" xml:lang="en">In this paper, we propose a novel approach to extracting rheological properties of deformable objects based on Haptic vision, which was proposed for vision-based automatic construction of virtual environment simulators. The method consists of two parts: 1) the "touch and see" part to cause deformation behavior by exerting known contact force on the object using a robot hand, and then observe how the deformed shape return to the original after contact force is removed, using a range sensor and a force-feedback sensor mounted on the robot hand, 2) the analysis and parameter extraction part from the acquired range images and force-feed back data. Experimental results using springs and wheat dough demonstrated the validity and effectiveness of the proposed approach to viscoelastic parameter extraction of rheological objects.</div>
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<s5>25</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG"><s0>Proximity detector</s0>
<s5>25</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Detector proximidad</s0>
<s5>25</s5>
</fC03>
<fC03 i1="13" i2="3" l="FRE"><s0>Mesure distance</s0>
<s5>26</s5>
</fC03>
<fC03 i1="13" i2="3" l="ENG"><s0>Distance measurement</s0>
<s5>26</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Capteur force</s0>
<s5>27</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>Force transducer</s0>
<s5>27</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Transductor fuerza</s0>
<s5>27</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE"><s0>Extraction paramètre</s0>
<s5>28</s5>
</fC03>
<fC03 i1="15" i2="X" l="ENG"><s0>Parameter extraction</s0>
<s5>28</s5>
</fC03>
<fC03 i1="15" i2="X" l="SPA"><s0>Extracción parámetro</s0>
<s5>28</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE"><s0>Image tridimensionnelle</s0>
<s5>29</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG"><s0>Tridimensional image</s0>
<s5>29</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA"><s0>Imagen tridimensional</s0>
<s5>29</s5>
</fC03>
<fC03 i1="17" i2="X" l="FRE"><s0>Mesure force</s0>
<s5>41</s5>
</fC03>
<fC03 i1="17" i2="X" l="ENG"><s0>Force measurement</s0>
<s5>41</s5>
</fC03>
<fC03 i1="17" i2="X" l="SPA"><s0>Medición esfuerzo</s0>
<s5>41</s5>
</fC03>
<fN21><s1>170</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
<server><NO>PASCAL 06-0270323 INIST</NO>
<ET>Extracting rheological properties of deformable objects with haptic vision</ET>
<AU>UEDA (Naoki); HIRAI (Shin-Iti); TANAKA (Hiromi T.)</AU>
<AF>Department of Computer Science, Ritsumeikan University, 1-1-1 Noji-higashi/Kusatsu Shiga/Japon (1 aut., 3 aut.); Department of Robotics, Ritsumeikan University, 1-1-1 Noji-higashi/Kusatsu Shiga/Japon (2 aut.)</AF>
<DT>Congrès; Niveau analytique</DT>
<SO>IEEE International Conference on Robotics and Automation/21/2004/New Orleans LA USA; Etats-Unis; Piscataway NJ: IEEE; Da. 2004; Pp. 3902-3907; ISBN 0-7803-8232-3</SO>
<LA>Anglais</LA>
<EA>In this paper, we propose a novel approach to extracting rheological properties of deformable objects based on Haptic vision, which was proposed for vision-based automatic construction of virtual environment simulators. The method consists of two parts: 1) the "touch and see" part to cause deformation behavior by exerting known contact force on the object using a robot hand, and then observe how the deformed shape return to the original after contact force is removed, using a range sensor and a force-feedback sensor mounted on the robot hand, 2) the analysis and parameter extraction part from the acquired range images and force-feed back data. Experimental results using springs and wheat dough demonstrated the validity and effectiveness of the proposed approach to viscoelastic parameter extraction of rheological objects.</EA>
<CC>001D02D11; 001B40F30C</CC>
<FD>Orienté objet; Robotique; Commande force; Rétroaction; Rhéologie; Corps déformable; Sensibilité tactile; Vision ordinateur; Réalité virtuelle; Simulateur; Main; Détecteur proximité; Mesure distance; Capteur force; Extraction paramètre; Image tridimensionnelle; Mesure force</FD>
<ED>Object oriented; Robotics; Force control; Feedback regulation; Rheology; Deformable body; Tactile sensitivity; Computer vision; Virtual reality; Simulator; Hand; Proximity detector; Distance measurement; Force transducer; Parameter extraction; Tridimensional image; Force measurement</ED>
<SD>Orientado objeto; Robótica; Control fuerza; Retroacción; Reología; Cuerpo deformable; Sensibilidad tactil; Visión ordenador; Realidad virtual; Simulador; Mano; Detector proximidad; Transductor fuerza; Extracción parámetro; Imagen tridimensional; Medición esfuerzo</SD>
<LO>INIST-Y 38842.354000153471326260</LO>
<ID>06-0270323</ID>
</server>
</inist>
</record>

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Extracting rheological properties of deformable objects with haptic vision

Extracting rheological properties of deformable objects with haptic vision

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