Abstract
This study presents a simple but effective approach to extract and selectively augment normal and tangential force components from a reaction force when a user interacts with a real object using a probe. The approach first approximates the behavior of a contact area with a single representative point, i.e., contact centroid. We use it to decompose the reaction force into a normal and a tangential force component. For augmentation, the two components are selectively amplified or diminished. For demonstration, we applied the approach in a breast tumor palpation scenario, where inhomogeneity due to hard nodules is amplified for better detectability of abnormality.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Jeon, S., Choi, S.: Real stiffness augmentation for haptic augmented reality. Presence Teleoperators Virtual Environ. 20(4), 337–370 (2011)
Bicchi, A., Salisbury, J.K., Brock, D.L.: Contact sensing from force measurements. Int. J. Robot. Res. 12(3), 249–262 (1993)
Kim, H., Choi, S., Chung, W.K.: Contact force decomposition using tactile information for haptic augmented reality. In: Proceedings of IEEE/RSJ International Conference on Robots and Systems (IROS), pp. 1242–1247 (2014)
Acknowledgements
This work was supported in part by a Grant 2010-0019523, 2013R1A2A2A01016907, 2011-0027994, and 2011-0030075 all from NRF, and by an ITRC program (NIPA-2010-C1090-1011-0008) from NIPA, all funded by the Korean government.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer Japan
About this chapter
Cite this chapter
Yim, S., Jeon, S., Choi, S. (2015). Normal and Tangential Force Decomposition and Augmentation Based on Contact Centroid. In: Kajimoto, H., Ando, H., Kyung, KU. (eds) Haptic Interaction. Lecture Notes in Electrical Engineering, vol 277. Springer, Tokyo. https://doi.org/10.1007/978-4-431-55690-9_26
Download citation
DOI: https://doi.org/10.1007/978-4-431-55690-9_26
Published:
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-55689-3
Online ISBN: 978-4-431-55690-9
eBook Packages: EngineeringEngineering (R0)