Development of haptic rendering methods of rigidity distribution for tool-handling type haptic interface

This paper describes a haptic rendering method for perception of rigidity distribution using a tool-handing type haptic interface. Since the data of rigidity distribution is different from cardinal number data measured with CT or MRI, we can only perceive rigidity value only when we deform it. We developed a rigidity data mapping method like a spring model by considering cross-section of 3D rigidity distribution. We confirmed that our method is effective for rigidity distribution perception.