Top > JRM > Basic Study on Grasping of Soft Object by Finite Element Metho ...

single-rb.php

JRM Vol.18 No.4 pp. 426-432
doi: 10.20965/jrm.2006.p0426
(2006)

Paper:

Views over last 60 days: 380

Basic Study on Grasping of Soft Object by Finite Element Method Considering Gravity

Tetsuya Yokoyama*, Hideki Tanahashi*, and Haruhisa Kawasaki**

*Gifu Prefectural Research Institute of Manufacturing Information Technology, 4-179-19 Sue, Kakamigahara, Gifu 509-0108, Japan

**Department of Human and Information Systems, Faculty of Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan

Received:
January 5, 2006
Accepted:
June 30, 2006
Published:
August 20, 2006
Creative Commons License
Keywords:
virtual reality, haptic display, soft object, FEM, grasping
Abstract
We proposed a method that enables to deform a soft object using a linear Finite Element Method (FEM) in real-time. In the proposed technique, since the calculation amount is reduced to O (n) (n: number of nodes), grasping is enabled in virtual space. In this paper, we studied grasping of a soft object taking gravity into consideration. Some simulations using a stiffness equation containing gravity demonstrated the validity of our proposal.
Cite this article as:
T. Yokoyama, H. Tanahashi, and H. Kawasaki, “Basic Study on Grasping of Soft Object by Finite Element Method Considering Gravity,” J. Robot. Mechatron., Vol.18 No.4, pp. 426-432, 2006.
Data files:
References
  1. [1] M. Bro-nielsen, “Finite Element Modeling in Surgery Simulation,” Journal of IEEE, Vol.86, No.3, pp. 490-503, 1998.
  2. [2] K. Hirota, and T. Kaneko, “A Method of Representing Soft Object in Virtual Environment,” Journal of IPSJ, Vol.39, No.12, pp. 3261-3268, 1998.
  3. [3] Y. Kitamura, K. Douko, M. Kitayama, and F. Kishino, “Object Deformation and Force Feedback for Virtual Chopsticks,” Trans. of VRSJ, Vol.7, No.3, pp. 291-299, 2002.
  4. [4] M. Nakao, and Y. Kuroda, “Providing a Real Time Physics-Based Simulation Library and Development of a Surgical Simulator,” IPA’s Exploratory Software Project, 2003.
  5. [5] T. Yokoyama, T. Yamada, H. Tanahashi, and H. Kawasaki, “Proposal of Deformation Method in Soft Object by Finite Element Method,” Trans. of VRSJ, Vol.10, No.2, pp. 241-248, 2005.
  6. [6] R. S. Johansson, and G. Westling, “Roles of glabrous skin receptors and sensorimotor memory in automatic control of precision grip when lifting rougher or more slippery objects,” Exp. Brain Res., Vol.56, pp. 550-564, 1984.
  7. [7] G. H. Golub, and C. F. Van Loan, “Matrix Computations,” The John Hopkins University Press, 1989.
  8. [8] S. Hasegawa, Y. Koike, and M. Sato, “Presentation of Object Shape and Resultant Force for Manipulation of Hard Virtual Object with Force Display,” Trans. of VRSJ, Vol.7, No.3, pp. 323-328, 2002.

Creative Commons License  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.

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

Last updated on Oct. 01, 2024