Normal and Tangential Force Decomposition and Augmentation Based on Contact Centroid

Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 277)


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.


Augmentation Palpation Inhomogeneity Contact centroid 



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.


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Copyright information

© Springer Japan 2015

Authors and Affiliations

  1. 1.Pohang University of Science and Technology (POSTECH)PohangRepublic of Korea
  2. 2.Kyung Hee UniversityYonginRepublic of Korea

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