Rigidity Distribution Rendering for a Tool-Handling Type Haptic Interface
Hiroaki Yano*, Masaki Nudejima**, Masaki Tomiyoshi*,
and Hiroo Iwata*
*University of Tsukuba, 1-1-1 Tennoudai, Tsukuba-shi, Ibaraki 305-8573, Japan
**Fuji Xerox Printing Systems Co., Ltd., 3-7-1 Funai, Iwatsuki-ku, Saitama-shi, Saitama 339-8509, Japan
We discuss haptic rendering for the perception of rigidity distribution using a tool-handing type haptic interface and a surface type haptic interface. Since rigidity distribution data differs from cardinal number data measured with Computed Tomography (CT) or Magnetic Resonance Imaging (MRI), we perceive rigidity only when we deform it. We developed rigidity data mapping, gradient mapping, torque mapping, viscosity mapping, and a spring model and applied them to tasks for perceiving rigidity distribution, confirming that our data mapping is effective for rigidity distribution perception.
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