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We will construct virtual rheological objects in VR space and will realize haptic sensation at the contact with rheological objects. Research topics include reality-based modeling of rheological objects, volmatic visualization of deformation inside rheological objects from CT and ultrasonic images, and haptic rendering of rheological deformation.
There exist many deformable soft objects that show rheological nature in our environment. We have to construct these rheological objects in a virtual world for the virtual reality. In this project, we will construct Virtual Rheological Objects in VR space and will realize haptic sensation caused by rheological objects.
Research topics include 1) Reality-based modeling of rheological objects, 2) Volmatic visualization of deformation inside rheological objects from CT and ultrasonic images, and 3) Haptic rendering of rheological deformation.
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elastic object |
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rheological object |
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deformed shape |
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plastic object |
Conferences
- Naoki Ueda, Shinichi Hirai, and Hiromi T.Tanaka,
Extracting Rheological Properties of Deformable Objects with Haptic Vision,
Proc. IEEE Int. Conf. on Robotics and Automation, Vol.4, pp.3902-3907, 10.1109/ROBOT.2004.1308876, New Orleans, LA, U.S.A., Apr. 26 - May 1, 2004
- Ryo Nogami, Hiroshi Noborio, Seiji Tomokuni, and Shinichi Hirai,
A Comparative Study of Rheology MSD Models whose Structures are Lattice and Truss,
Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.4, pp.3809-3616, 10.1109/IROS.2004.1390008, Sendai, Japan, Sept. 28 - Oct. 2, 2004
- Masafumi Kimura, Yuuta Sugiyama, Seiji Tomokuni, and Shinichi Hirai,
Constructing Rheologically Deformable Virtual Objects,
Proc. IEEE Int. Conf. on Robotics and Automation, Vol.3, pp.3737-3743, 10.1109/ROBOT.2003.1242170, Taipei, Sept. 14-19, 2003
- Naoki Ueda, Kiyotaka Kushihama, Shinichi Hirai, Hiromi T. Tanaka,
Extracting Rheological Properties of Deformable Objects with Haptic Vision,
Proc. 13th Int. Conf. on Artificial Reality and Telexistence (ICAT 2003), Tokyo, Japan, Dec., 2003
- Shinichi Tokumoto, Shinichi Hirai, and Hiromi Tanaka,
Constructing Virtual Rheological Objects,
Proc. World Multiconference on Systemics, Cybernetics and Infomatics, pp.106-111, Orlando, FL, U.S.A., July 22-25, 2001
- Shinichi Tokumoto, Yoshiaki Fujita, and Shinichi Hirai,
Deformation Modeling of Viscoelastic Objects for Their Shape Control,
Proc. IEEE Int. Conf. on Robotics and Automation, Vol.1, pp.767-772, 10.1109/ROBOT.1999.770067, Detroit, MI, U.S.A., May 10-15, 1999
Oral Presentations
- Zhongkui Wang and Shinichi Hirai,
Modeling of Rheological Object with Square or Cubic Finite Element,
7th Joint Workshop on Machine Perception and Robotics (MPR2011), Beijing, China, Oct. 13-14, 2011
- Zhongkui Wang and Shinichi Hirai,
Finite Element Modeling of Rheological Objects for Simultaneously Reproducing their Deformation and Force Behaviors,
6th Joint Workshop on Machine Perception and Robotics (MPR2010), Fukuoka, Japan, Oct. 8-9, 2010
- Zhongkui Wang and Shinichi Hirai,
Parameter Estimation of Rheological Object Based on FE Simulation and Nonlinear Optimization,
5th Joint Workshop on Machine Perception and Robotics (MPR2009), Kyoto, Japan, Oct. 4-5, 2009
- Zhongkui Wang and Shinichi Hirai,
Physical Parameter Identification of Uniform Rheological Deformation through FE Model Simulation,
Robotics and Mechatronics Conference 2008, Nagano, Japan, June 5-7, 2008
- Zhongkui Wang and Shinichi Hirai,
Physical Parameter Identification of Rheological Object Based on FE Dynamic Model,
4th Joint Workshop on Machine Perception and Robotics (MPR2008), Beijing, China, Nov. 6-7, 2008
