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Multi-Contact Stiffness and Friction Augmentation Using Contact Centroid-Based Normal-Tangential Force Decomposing | IEEE Conference Publication | IEEE Xplore

Multi-Contact Stiffness and Friction Augmentation Using Contact Centroid-Based Normal-Tangential Force Decomposing


Abstract:

This paper presents an effective approach to extract and selectively augment normal and tangential force components when interacting with a real object. The approach firs...Show More

Abstract:

This paper presents an effective approach to extract and selectively augment normal and tangential force components when interacting with a real object. The approach first approximates the behavior of a contact area with a single representative point, i.e., contact centroid, which is then used to decompose the reaction force into a force due to pressure and that due to friction. For augmentation, the two components are selectively amplified or diminished via a haptic interface. The proposed approach is scalable and can be easily extended to multi-points interaction, which is also demonstrated in this work. The decomposition performance was evaluated by comparing the decomposition results of the algorithm with a FEM simulation, demonstrating the feasibility of our approach for a palpation scenario.
Date of Conference: 06-09 July 2021
Date Added to IEEE Xplore: 23 August 2021
ISBN Information:
Conference Location: Montreal, QC, Canada

Funding Agency:


References

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