유한요소 해석을 이용한 초탄성체 햅틱 피드백 연구
Hyper-elastic Model Haptic Feedback Using Finite Element Analysis
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초록
In this study, we establish hyper-elastic haptic feedback in a virtual environment using finite element analysis techniques and developa Force Torque (FT) sensor utilization method for application in tele-operation environments. In general, regarding haptic feedback data,in a tele-operation environment, the user is provided with feedback according to the measured force data when the model is insertedthrough an FT sensor. Conversely, in a virtual environment, the press-fitting model can be expressed through the spring–damper systemrather than an FT sensor to provide feedback. However, unlike rigid and the elastic bodies, the hyper-elastic body represented by aspring–damper system in a virtual environment is a simple impedance model using stiffness and damping coefficients; it is limited interms of providing actual feedback. Thus, in this study, haptic feedback was implemented using the data obtained from POD-RBF analysisresults during hyper-elastic press-fitting experiments. The haptic feedback mechanism developed in this study was verified by comparingthe FT sensor feedback data measured and calculated through hyper-elastic press-fitting experiments with spring–damperfeedback data. Subsequently, the POD-RBF analysis feedback was compared and evaluated against the feedback mechanism of eachenvironment through the test subject, and the similarities between the POD-RBF analysis feedback and FT sensor data feedback wereverified.
Abstract
In this study, we establish hyper-elastic haptic feedback in a virtual environment using finite element analysis techniques and developa Force Torque (FT) sensor utilization method for application in tele-operation environments. In general, regarding haptic feedback data,in a tele-operation environment, the user is provided with feedback according to the measured force data when the model is insertedthrough an FT sensor. Conversely, in a virtual environment, the press-fitting model can be expressed through the spring–damper systemrather than an FT sensor to provide feedback. However, unlike rigid and the elastic bodies, the hyper-elastic body represented by aspring–damper system in a virtual environment is a simple impedance model using stiffness and damping coefficients; it is limited interms of providing actual feedback. Thus, in this study, haptic feedback was implemented using the data obtained from POD-RBF analysisresults during hyper-elastic press-fitting experiments. The haptic feedback mechanism developed in this study was verified by comparingthe FT sensor feedback data measured and calculated through hyper-elastic press-fitting experiments with spring–damperfeedback data. Subsequently, the POD-RBF analysis feedback was compared and evaluated against the feedback mechanism of eachenvironment through the test subject, and the similarities between the POD-RBF analysis feedback and FT sensor data feedback wereverified.
참고문헌 (9)
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