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Deforming and Cutting Operation with Force Sensation
Atsuko Tanaka*, Koichi Hirota** and Toyohisa Kaneko***
*Central Research and Development Laboratory, OMRON Corporation, 20 Igadera, Shimokaiinji, Nagaokakyo-shi, Kyoto 617-8510, Japan
**Research Center for Advanced Science and Technology, the University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8904, Japan
***Department of Information and Computer Sciences, Toyohashi University of Technology, 1-1 Hibarigaoka, Tenpaku-cho, Toyohashi 441-8580, Japan
Received:October 5, 1999Accepted:March 1, 2000Published:June 20, 2000
Keywords:cutting, deforming, designing shape, virtual environment, force feedback
Abstract
In this paper, we discuss an approach to applying a virtual environment to shape forming tasks. In the study, we implemented a vertual work space that support deforming and cutting operations with visual and haptic feedback. In the implementation of the deforming operation, the surface shape is represented by a geometric model while the physical reaction is simulated using a spring model. The deformation of the spring model is considered on the geometric model by using interpolation technique. In the implementation of the cutting operation, we realized visual and haptic feedback of the cutting operation remarking on the geometric and physical aspects, respectively. Combining the deforming and the cutting environment, we successfully implemented a work space in which we can form and design shapes through operations similar to clay modeling.
Cite this article as:A. Tanaka, K. Hirota, and T. Kaneko, “Deforming and Cutting Operation with Force Sensation,” J. Robot. Mechatron., Vol.12 No.3, pp. 292-303, 2000.Data files:
Copyright© 2000 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.
