Extracting Rheological Properties of Deformable Objects with Haptic Vision

In this paper, we propose a novel approach to extracting rheological properties of deformable objects based on Haptic vision, which was proposed for vision-based automatic construction of virtual environment simulators. The method consists of two parts: 1) the ”touch and see” part to cause deformation behavior by exerting a known contact force on the object using a robot hand, and then observe how the deformed shape return to the original after the contact force is removed, using a range sensor and a force-feedback sensor mounted on the robot hand, 2) the analysis and parameter extraction part from the acquired range images and force-feed back data. Experimental results using springs and wheat dough demonstrated the validity and effectiveness of the proposed approach to viscoelastic parameter extraction of rheological objects. Key words: Haptic Vision, Deformable Object modeling, Rheology, Rheological Properties, Viscoelasticity

• Type: Conference
• Year: 2003
• Where: ICAT
• Authors: Naoki Ueda, Kiyotaka Kushihama, Shin-iti Hirai, Hiromi T. Tanaka
• Keywords: Deformable Object, Haptic Vision, ICAT 2003, Rheological Properties