Proposal of Calculation Method for Grasping Soft Object using FEM in Haptic Display
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- Yokoyama Tetsuya
- Gifu Prefectural Research Institute of Information Technology
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- Yamada Toshio
- Gifu Prefectural Research Institute of Information Technology
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- Tanahashi Hideki
- Gifu Prefectural Research Institute of Information Technology
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- Kawasaki Hisaharu
- Faculty of Engineering, Gifu University
Bibliographic Information
- Other Title
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- 力覚提示における有限要素法を用いた柔軟物体の把持操作
- リキカク テイジ ニ オケル ユウゲン ヨウソホウ オ モチイタ ジュウナン ブッタイ ノ ハジ ソウサ
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Abstract
In order to construct haptic display for grasping a soft object using FEM, it is effective for deformation and reaction force calculation to calculate the center of gravity and posture of a reference object. In this paper, we propose the novel calculation method for the center of gravity and posture of the object. The proposed method calculates the center of gravity and posture of the object using force displacement and an inverse matrix of a stiffness matrix calculated by using SVD. In simulations of grasping the soft object, we confirmed validity of the proposed method.
Journal
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- Transactions of the Virtual Reality Society of Japan
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Transactions of the Virtual Reality Society of Japan 14 (4), 501-510, 2009
THE VIRTUAL REALITY SOCIETY OF JAPAN
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Keywords
Details 詳細情報について
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- CRID
- 1390282679441522944
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- NII Article ID
- 110008724190
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- NII Book ID
- AA11448578
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- ISSN
- 24239593
- 1344011X
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- NDL BIB ID
- 10558056
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed