Determination of Parameters in Compound Fill Sphere Model for Haptic Interaction

摘要：

　　The compound Fill Sphere Model (cFSM), which is an extension of common Fill Sphere Model, is widely used in real-time haptic interaction with deformable body.Comparing with finite element based model, the simplicity and efficiency are advantages of cFSM.However, determining implicit parameters of cFSM is a difficult task since a vivid deformation should be attained during haptic interaction.In this paper, to improve the simulation precision, parameter matrices of the cFSM are identified through an analytical method for the first time to our best knowledge.After deriving parameter matrices by linearization, the stiffness matrix, damp matrix and mass matrix of the cFSM are obtained by minimizing errors between stiffness matrix of the Finite Element Model (FEM).In order to evaluate the performance of derived parameters, comparative experiment has been conducted between the cFSM and FEM.Additionally, based on the derived parameters, a real-time haptic interactive scenario is constructed to validate the performance of deformation simulation.

关键词： parameter determination fill sphere model haptic interaction

作者: Liu Yong Zhang Yan-chao Chou Wu-sheng

作者单位: State Key Laboratory of Virtual Reality Technology and Systems,Beihang University,Beijing 100191,Chi Robotics Institute,Beihang University,Beijing 100191,China

会议类型: 国际会议

会议名称: the 3nd International Conference on Digital Manufacturing & Automation (第三届数字制造与自动化国际会议(ICDMA 2012))

会议地点: 桂林

会议语种:英文

页码: 277-283

在线出版日期: 2012-08-01（万方平台首次上网日期，不代表论文的发表时间）