Multi-Contact Stiffness and Friction Augmentation Using Contact Centroid-Based Normal-Tangential Force Decomposing
- Title
- Multi-Contact Stiffness and Friction Augmentation Using Contact Centroid-Based Normal-Tangential Force Decomposing
- Authors
- Yim, Sunghoon; Choi, Seungmoon; Jeon, Seokhee
- Date Issued
- 2021-07-07
- Publisher
- IEEE
- Abstract
- This paper presents an effective approach to extract and selectively augment normal and tangential force components when interacting with a real object. The approach first approximates the behavior of a contact area with a single representative point, i.e., contact centroid, which is then used to decompose the reaction force into a force due to pressure and that due to friction. For augmentation, the two components are selectively amplified or diminished via a haptic interface. The proposed approach is scalable and can be easily extended to multi-points interaction, which is also demonstrated in this work. The decomposition performance was evaluated by comparing the decomposition results of the algorithm with a FEM simulation, demonstrating the feasibility of our approach for a palpation scenario.
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/109421
- Article Type
- Conference
- Citation
- IEEE World Haptics Conference (WHC), page. 385 - 390, 2021-07-07
- Files in This Item:
- There are no files associated with this item.
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