Paper Info
Title
Storage and haptic rendering of multi-inertia environment using FDTD method
Abstract
Environmental haptic sensations are reproduced by means of machine admittance control. Conventional reproduced environments are expressed by a stiffness and viscosity model and Finite Element Method (FEM). In this research, multi-inertia environmental haptic sensations that are composed of multiple mass, stiffness, and viscosity values are reproduced based on machine admittance control by using the finite difference time domain (FDTD) method. In this study, we observe the frequency characteristics from the external force to be stored for the position response, calculate the complex equation from the motion equation for each frequency, and obtain the characteristic matrix of the environment by means of the least squares method. The obtained parameter can be used, as it is as a parameter of the FDTD method. This method is suitable for the method of rendering the environmental haptic sensations using the FDTD method and machine admittance control.
Year
DOI
Venue
2018
10.1109/AMC.2019.8371131
2018 IEEE 15th International Workshop on Advanced Motion Control (AMC)
Keywords
Field
DocType
multiinertia environmental haptic sensations,machine admittance control,finite difference time domain method,frequency characteristics,FDTD method,haptic rendering,conventional reproduced environments,viscosity model,least squares method,finite element method,storage,characteristic matrix
Least squares,Computer science,Mathematical analysis,Finite element method,Finite-difference time-domain method,Equations of motion,Inertia,Rendering (computer graphics),Admittance,Haptic technology
Conference
ISSN
ISBN
Citations 
1943-6572
978-1-5386-1947-6
0
PageRank 
References 
Authors
0.34
0
3
Name
Order
Citations
PageRank
Hirotaka Muto100.68
Yuki Yokokura27518.43
Kiyoshi Ohishi341571.48