Future Haptic Science Encyclopedia: Realistic Stable Haptic Interaction with Highly Deformable Objects Using HIRO-II
Osama Halabi*, Vytautas Daniulaitis**, Haruhisa Kawasaki***,
Tetsuya Mouri***, and Yoshio Ohtuka***
*Department of Computer Science, Faculty of Engineering, Iwate University, 4-3-5 Ueda, Morioka 020-8551, Japan
**System Analysis Department, Kaunas University of Technology, Studentu 50-403a, Kaunas LT-50250, Lithuania
***Department of Human Information System, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan
Maintaining a stable haptic interaction with virtual environments, especially with physically-based deformable objects, has long been an active area of research. We address this issue by presenting a comprehensive haptic system architecture and virtual reality simulation, where a physically-based modeling using the Finite Element Method (FEM) combined with an “elementary displacement” approach has been implemented. This approach ensures the stability of haptic interaction with deformable objects and considers interaction with multipoints contacts. The Future Haptic Science Encyclopedia (FHSE) we developed to verify our proposal and demonstrate the new haptic interface HIRO II. We also present an objective and subjective evaluation of FHSE simulation.
-  S. A. Wall, and W. S. Harwin, “Design of a Multiple Contact Point Haptic Interface,” In Proc. of Eurohaptics 2001, University of Birmingham, 2001.
-  Y. Adachi, T. Kumano, and K. Ogino, “Intermediate representation for stiff virtual objects,” in IEEE Virtual Reality Annual Intl. Symposium, Research Triangle Park, N. Carolina, pp. 203-210, 1995.
-  W. Mark, S. Randolph, M. Finch, J. Van Verth, and R. Taylor, “Adding force feedback to graphics systems: Issues and solutions,” In Computer Graphics: Proceedings of SIGGRAPH’96, pp. 447-452, 1996.
-  R. Balaniuk, “Using fast local modeling to buffer haptic data,” In Proceedings of Fourth PHANTOM Users Group Workshop-P UG99, 1999.
-  C. Zilles, and J. Salisbury, “A constraint-based god-object method for haptic display,” In Proc. IEE/RSJ International Conference on Intelligent Robots and Systems, Human Robot Interaction and Cooperative Robots, Vol.3, pp. 146-151, 1996.
-  D. C. Ruspini, K. Kolarov, and O. Khatib, “The haptic display of complex graphical environments,” In SIGGRAPH conference, ACMSIGGRAPH; pp. 345-352, 1997.
-  F. Barbagli, D. Prattichizzo, and K. Salisbury, “Multirate analysis of haptic interaction stability with deformable objects,” Proceeding of the 41st IEEE conference on Decision and Control, pp. 917-922, 2002.
-  C. Mendoza, and C. Laugier, “Realistic haptic rendering for highly deformable virtual objects,” Virtual Reality Conference, pp. 264-269, 2001.
-  M. C. Cavusoglu, and F. Tendick, “Multirate simulation for highfidelity haptic interaction with deformable objects in virtual environments,” Proc. IEEE Int. Conf. Robot. Autom, pp. 2458-2464, 2000.
-  H. Kawasaki, T. Mouri, M. O. Alhalabi, Y. Sugihashi, Y. Ohtuka, S. Ikenohata, K. Kigaku, V. Daniulaitis, K. Hamada, and T. Suzuki, “Development of Five-Fingered Haptic Interface: HIRO II,” Proc. of ICAT 2005, Christchurch, New Zealand, pp. 209-214, 2005.
-  T. Mouri, H. Kawasaki, K. Yoshikawa, J. Takai, and S. Ito, “Anthropomorphic Robot Hand: Gifu Hand III,” Proc. of Int. Conf. ICCAS2002, Korea, pp. 1288-1293, 2002.
-  The 2005 World Exposition, Aichi, Japan.
-  S. Cotin, H. Delingette, and N. Ayache, “Real-Time Elastic Deformations of Soft Tissues for Surgery Simulation,” IEEE Transactions on Visualization and Computer Graphics, Vol.5, No.1, pp. 62-73, 1999.
-  M. O. Alhalabi, V. Daniulaitis, H. Kawasaki, and T. Hori, “Medical Training Simulation for Palpation of Subsurface Tumor Using HIRO,” Proceedings of worldHAPTICS, Pisa, Italy, pp. 623-624, 2005.
-  V. Daniulaitis, M. O. Alhalabi, H. Kawasaki, Y. Tanaka, and T. Hori, “Medical palpation of deformable tissue using physics-based model for Haptic Interface RObot (HIRO),” Proc. of IROS2004, Sendai, pp. 3907-3911, 2004.
-  M. O. Alhalabi, V. Daniulaitis, H. Kawasaki, Y. Tanaka, and T. Hori, “Haptic interaction rendering technique for HIRO: an opposite human hand haptic interface,” Proceedings of EuroHaptics 2004, Munich, Germany, pp. 459-462, 2004.
This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.
Copyright© 2006 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.