Normal and Tangential Force Decomposition and Augmentation Based on Contact Centroid

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

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.

Keywords

Augmentation Palpation Inhomogeneity Contact centroid 

Notes

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.

References

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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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