Elasticity modeling and estimation for haptic contact using a DD‐robot

To propose a new haptic modeling and contact analysis algorithm (modified long element method (MLEM)) to efficiently model deformation, to estimate elasticity, and to provide the characterization of contact with deformable objects, which is important in teleoperation and haptic system.

Widely used finite element method for haptic rendering and visualization of deformable objects has limitations in real‐time applications because of its massive calculations and the absence of physical modeling. Using long elements method (LEM), the authors propose the MLEM which is capable of real‐time deformation rendering and elasticity estimation with reliable physical modeling. The authors applied MLEM to a simple haptic system composed of the three‐link SNU DD‐robot and a force‐feedback joystick.

An efficient, real‐time haptic modeling for deformable objects has been developed. MLEM provides physically accurate deformation modeling in real time, and estimates the elasticity of objects at contact, providing contact characterization based on material properties.

MLEM has been applied to SNU DD‐robot, and displayed real‐time haptic visualization in 2D space. It can be applied easily to any haptic system with force sensors, and may have impacts on the applications of teleoperation, robot‐aided surgery and human‐robot interaction.

This paper offers a practical tool to the engineers in the haptics field for visualization of deformation. The efficient algorithm of MLEM can be placed on any haptic system with force sensors, and will improve the efficiency and accuracy of teleoperated haptic systems with real‐time analysis of haptic contact.