[Japanese | Thesis | Researches in Minoh Lab | Minoh Lab]

Method of Force Feedback and Its Visual Support in Manipulating Non-rigid Object of Sheet

This paper aims at realizing the force feedback in manipulating non-rigid objects in the form of the sheet based on pyisical data.

Recently the technique of the artificial reality makes it become possible for us to interact with a virtual environment constructed in a computer as well as a real environment by getting various kinds of feedback from the virtual environment directly to our sense organs. This technology is highly expected to be used as an interface between a human and a computer.

In recent studies on artificial reality, it has been discussed to realize manipulation of various objects in a virtual environment. Although most of the work has dealt with rigid objects, non-rigid objects are also expected to be manipulated in a virtual environment.

When we manipulate objects in a virtual environment, force feedback together with visual and auditory feedback from the virtual environment must be important, because force feedback by the gravity, tension or resistance is given when we interact with a real environment.

In this paper, we propose a method to realize the force feedback in manipulating non-rigid objects in the form of a sheet such as a cloth, rubber sheet, or paper based on the physically data of thier property.

In this method, the non-rigid object to be manipulated in the form of a sheet is simulated based on the representation of the object as a mesh of particles in real time. And force feedback is calculated on the constraints defined between the particles. To realize the force feedback based on the physical property of the objects, we use the physical data which are acquired by measuring the object using Kawabata's Evaluation System(KES). Measurement of non-rigid objects in the form of the sheet by KES supplies the data of its physical characteristics when they are stretched and bent. These data are used to consider physical property of non-rigid object in the simulation.

The force feedback are determined from the kinematic constraint on the distance between neighboring particles and that on the local curvature of the object defined by the neighboring particles. Those constraints are defined based on the result of measurement by KES.

Visual feedback is employed to enrich the feedback of the result of manipulating the object so that the part which cannot be touched with the force feedback device can be perceived.

The force feedback by our method is evaluated by some experient, and we could get satisfiable results.

Go back to Thesis Page