Abstract
The paper presents a joint sensing strategy that combines tactile probing and range imaging for the mapping of the elastic properties that characterize 3D deformable objects. A feedforward neural network architecture is employed in an original manner to model the complex relationship between the surface deformation and the forces exemplified in non-rigid bodies. Experimental results are presented for objects made of materials with different elastic behaviors and for their different deformation stages.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Wang, X., Ananthasuresh, G.K., Ostrowski, J.P.: Vision-based Sensing of Forces in Elastic Objects. Sensors and Actuators A 94, 146–156 (2001)
Kamiyama, K., Kajimoto, H., Kawakami, N., Tachi, S.: Evaluation of a Vision-based Tactile Sensor. In: IEEE International Conference on Robotics and Automation, pp. 1542–1547. IEEE Press, Barcelona (2004)
Vuskovic, V., Krauer, M., Szekely, G., Reidy, M.: Realistic Force Feedback for Virtual Reality Based Diagnostic Surgery Simulators. In: IEEE International Conference on Robotics and Automation, pp. 1592–1598. IEEE Press, San Francisco (2000)
Ferrier, N.J., Brockett, R.W.: Reconstructing the Shape of a Deformable Membrane from Image Data. International Journal of Robotics Research 19(9), 795–816 (2000)
Hristu, D., Ferrier, N., Brockett, R.W.: The Performance of a Deformable-Membrane Tactile Sensor: Basic Results on Geometrically-Defined Tasks. In: IEEE Conference on Robotics and Automation, vol, pp. 508–513. IEEE Press, San Francisco (2000)
Greminger, M.A., Nelson, B.J.: Modeling Elastic Objects with Neural Networks for Vision-Based Force Measurement. In: IEEE International Conference on Intelligent Robots and Systems, vol. 2, pp. 1278–1283. IEEE Press, Las Vegas (2003)
Cretu, A.-M., Payeur, P., Petriu, E.M.: Neural Network Mapping and Clustering of Elastic Behavior from Tactile and Range Imaging for Virtualized Reality Applications. IEEE Transactions on Instrumentation and Measurement 57(9), 1918–1928 (2008)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Cretu, AM., Payeur, P., Petriu, E.M. (2009). Modeling of Elastic Behavior of 3D Deformable Objects from Range and Tactile Imaging. In: Kamel, M., Campilho, A. (eds) Image Analysis and Recognition. ICIAR 2009. Lecture Notes in Computer Science, vol 5627. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-02611-9_70
Download citation
DOI: https://doi.org/10.1007/978-3-642-02611-9_70
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-02610-2
Online ISBN: 978-3-642-02611-9
eBook Packages: Computer ScienceComputer Science (R0)