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 

References

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    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)Google Scholar

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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