A smart rheologic MSD model pushed/calibrated/evaluated by experimental impulses

A rheology object means a visco-elastic object with some residual displacement. The modeling is useful to manipulate a real rheology object by a robot hand/arm or to feel a contact impulse (forces) from a virtual one by some haptic device. In our previous works, we compared several types of MSD models with/without two kinds of conservation laws of volume by giving position replacements at some surrounding masses, calibrating and evaluating shape differences between virtual and real rheology objects. Concerning to shape precision, the combination is wonderful. Also, the model including conservation laws of volume is better than the model excluding them. However, concerning to force precision, they are unfortunately meaningless. To overcome this drawback in this paper, we compare the types of MSD models by giving, calibrating and evaluating impulses and their differences at the masses around the virtual and real rheology objects. As a result, for the purpose, the new combination is suitable. Furthermore, concerning to force precision, the model excluding conservation laws of volume is better than the model including them.

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