Elasticity modeling and estimation for haptic contact using a DD-robot

Purpose – To propose a new haptic modeling and contact analysis algorithm (modified long element method (MLEM)) to efficiently model deformation, to estimate elasticity, and to provide the characterization of contact with deformable objects, which is important in teleoperation and haptic system.Design/methodology/approach – Widely used finite element method for haptic rendering and visualization of deformable objects has limitations in real‐time applications because of its massive calculations and the absence of physical modeling. Using long elements method (LEM), the authors propose the MLEM which is capable of real‐time deformation rendering and elasticity estimation with reliable physical modeling. The authors applied MLEM to a simple haptic system composed of the three‐link SNU DD‐robot and a force‐feedback joystick.Findings – An efficient, real‐time haptic modeling for deformable objects has been developed. MLEM provides physically accurate deformation modeling in real time, and estimates the elastic...

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