single-rb.php

JRM Vol.17 No.3 pp. 302-309
doi: 10.20965/jrm.2005.p0302
(2005)

Paper:

Development of Integrated Visual Haptic Display Using Translucent Flexible Sheet

Kenji Inoue*, Reiko Uesugi**, Ryouhei Sasama***,
Tatsuo Arai*, and Yasushi Mae****

*Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan

**Product Development Laboratories, Fujisawa Pharmaceutical Co.,Ltd.

***Department of Systems Science, School of Engineering Science, Osaka University

****Department of Human and Artificial Intelligence Systems, Faculty of Engineering, University of Fukui

Received:
October 31, 2004
Accepted:
March 7, 2005
Published:
June 20, 2005
Keywords:
haptic display, translucent flexible sheet, variable compliance, rear projection, FEM
Abstract

We propose an integrated visual haptic display using translucent flexible sheet such as rubber to enable users to feel that they are seeing and pushing virtual soft objects directly. The display varies sheet compliance in the normal direction by changing bias tension applied to the sheet: tightly stretched sheet feels hard, and loose sheet feels soft. Hence a user can feel compliance of various virtual objects when pushing the sheet. This sheet is also used as a rear projection screen. When the user pushes the sheet with a finger, the position and deformation of the pushed point are measured by stereovision. Deformation of the virtual object is calculated by FEM, and the graphic image of the deformed object is generated. An LCD projector projects the image on the sheet from the back. As a result, the user sees the finger pushing the object image. A display using urethane rubber sheet is developed: it applies bias tension to the sheet by pulling 4 corners with 4 motors. Experiments confirm the developed display generates variable compliance and simulates compliance of a real soft object. Subjects feel that they are seeing and pushing a virtual soft object directly.

Cite this article as:
Kenji Inoue, Reiko Uesugi, Ryouhei Sasama,
Tatsuo Arai, and Yasushi Mae, “Development of Integrated Visual Haptic Display Using Translucent Flexible Sheet,” J. Robot. Mechatron., Vol.17, No.3, pp. 302-309, 2005.
Data files:
References
  1. [1] H. Iwata, H. Yano, F. Nakaizumi, and R. Kawamura, “Project FEELEX: Adding Haptic Surface to Graphics,” Proc. ACM SIGGRAPH 2001, pp. 469-475, 2001.
  2. [2] M. Sakaguchi, and J. Furusho, “Basic Study on Passive Force Display Using ER Brakes,” Trans. the Virtual Reality Society of Japan, Vol.5, No.4, pp. 1121-1128, 2000 (in Japanese).
  3. [3] K. Fujita, H. Ohmori, and H. Katagiri, “Development of Softness Display Device Based on Fingertip Contact Area Control,” Proc. the Virtual Reality Society of Japan Fifth Annual Conference, pp. 251-254, 2000 (in Japanese).
  4. [4] M. Kawai, and T. Yoshikawa, “Haptic Display of Movable Virtual Object with Interface Device Capable of Continuous-Time Impedance Display by Analog Circuit,” Proc. the 2002 IEEE International Conference on Robotics and Automation, pp. 229-234, 2002.
  5. [5] E. Papadopoulos, K. Vlachos, and D. Mitropoulos, “Design of a 5-DOF Haptic Simulator for Urological Operation,” Proc. the 2002 IEEE International Conference on Robotics and Automation, pp. 2079-2084, 2002.
  6. [6] J. H. Lee, H. W. Kim, B. J. Yi, and H. Suh, “Singularity-Free Algorithms and Design Scheme for a New 6-DOF Parallel Haptic Device,” Proc. the 2002 IEEE International Conference on Robotics and Automation, pp. 4229-4235, 2002.
  7. [7] S. Tachi, T. Maeda, R. Hirata, and H. Hoshino, “A Construction Method of Virtual Haptic Space,” Proc. ICAT’94, pp. 131-138, 1994.
  8. [8] T. Mitsuda, S. Kuge, M. Wakabayashi, and S. Kawamura, “Haptic Displays Implemented by Controllable Passive Elements,” Proc. the 2002 IEEE International Conference on Robotics and Automation, pp. 4223-4228, 2002.
  9. [9] T. Chanthasopeephan, J. P. Desai, and A. C. W. Lau, “Measuring Forces in Liver Cutting for Reality-Based Haptic Display,” Proc. the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3083-3088, 2003.
  10. [10] M. Konyo, K. Akazawa, S. Tadokoro, and T. Takamori, “Tactile Feel Display for Virtual Active Touch,” Proc. the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3744-3750, 2003.
  11. [11] K. Inoue, R. Uesugi, R. Sasama, T. Arai, and Y. Mae, “Display of Variable Compliance by Haptic Devices Using Flexible Sheet,” Trans. the Virtual Reality Society of Japan, Vol.18, No.3, pp. 295-302, 2003 (in Japanese).
  12. [12] K. Inoue, R. Uesugi, T. Arai, and Y. Mae, “Development of Haptic Device Using Flexible Sheet,” Journal of Robotics and Mechatronics, Vol.15, No.2, pp. 121-127, 2003.
  13. [13] R. Uesugi, K. Inoue, R. Sasama, T. Arai, and Y. Mae, “See-through Sheet Visual Display for Haptic Device Using Flexible Sheet,” 13th International Conference on Artificial Reality and Telexistence (ICAT2003), CD-ROM, 2003.
  14. [14] R. Y. Tsai, “An Efficient and Accurate Camera Calibration Technique for 3D Machine Vision,” Proc. IEEE Conference on Computer Vision and Pattern Recognition, pp. 364-374, 1986.
  15. [15] Y. Kuroda, M. Nakao, T. Kuroda, H. Oyama, M. Komori, and T. Matsuda, “Development of Rectal Palpation Simulator Based on an Interaction Model between Elastic Objects,” Proc. the Virtual Reality Society of Japan the 8th Annual Conference, pp. 559-562, 2003 (in Japanese).

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Oct. 20, 2021