Analysis and Modeling Based on Cepstrum for Haptic Presentation Considering Frequency Features of Vibration in Rubbing Motion
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- Miyagi Takami
- Department of System Design Engineering, Keio University
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- Katsura Seiichiro
- Department of System Design Engineering, Keio University
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抄録
This paper proposes a modeling method for the haptic information from the environmental characteristics of a plane. A human obtains much haptic information by touching an object. For the haptic information derived from a rubbing motion, this paper particularly focuses on the vibration components of the friction force. Although there are many methods to describe the friction force, it is difficult to treat them quantitatively. This paper proposes applying Cepstral analysis to haptic information to easily extract and treat unique features of the environment. A technique for representing the extracted frequency features is also presented. An experiment was performed using a 2 DOF system to show the validity of the proposal.
収録刊行物
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- IEEJ Journal of Industry Applications
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IEEJ Journal of Industry Applications 4 (2), 74-82, 2015
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