Real-time haptic rendering of slowly deformable bodies based on two dimensional visual information for telemanipulation

This paper presents a real-time haptic rendering technique for deformable objects based on visual information about the intervention between a tool and a real object in a remote place. A user can feel the artificial reaction force through a haptic device in real-time when a slave system exerts manipulation tasks on a deformable object. Models of the deformable object and the manipulator are created from the captured image obtained with a CCD camera and the objects are recognized using image processing techniques. The force at a rate of 1 kHz for stable haptic interaction is deduced by extrapolating forces at a low update rate. The rendering algorithm developed was tested and validated on a test platform consisting of a one-dimensional indentation device and an off-the shelf force feedback device.