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Sensors 2018, 18(1), 237;

Data-Driven Modeling and Rendering of Force Responses from Elastic Tool Deformation

Department of Computer Engineering, Kyung Hee University, Yongin-si 446-701, Korea
Author to whom correspondence should be addressed.
Received: 29 November 2017 / Revised: 4 January 2018 / Accepted: 11 January 2018 / Published: 15 January 2018
(This article belongs to the Special Issue Force and Pressure Based Sensing Medical Application)
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This article presents a new data-driven model design for rendering force responses from elastic tool deformation. The new design incorporates a six-dimensional input describing the initial position of the contact, as well as the state of the tool deformation. The input-output relationship of the model was represented by a radial basis functions network, which was optimized based on training data collected from real tool-surface contact. Since the input space of the model is represented in the local coordinate system of a tool, the model is independent of recording and rendering devices and can be easily deployed to an existing simulator. The model also supports complex interactions, such as self and multi-contact collisions. In order to assess the proposed data-driven model, we built a custom data acquisition setup and developed a proof-of-concept rendering simulator. The simulator was evaluated through numerical and psychophysical experiments with four different real tools. The numerical evaluation demonstrated the perceptual soundness of the proposed model, meanwhile the user study revealed the force feedback of the proposed simulator to be realistic. View Full-Text
Keywords: haptic rendering; tool deformation; data-driven modeling; force feedback haptic rendering; tool deformation; data-driven modeling; force feedback

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Abdulali, A.; Rakhmatov, R.; Ogay, T.; Jeon, S. Data-Driven Modeling and Rendering of Force Responses from Elastic Tool Deformation. Sensors 2018, 18, 237.

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