Data-driven haptic modeling using polynomial hypersurfaces

Author

Theodosis, Paul A. ; Colton, Mark B.

Author_Institution

Brigham Young Univ., Provo, UT

fYear

2009

fDate

18-20 March 2009

Firstpage

35

Lastpage

38

Abstract

In this paper we present a method for generating accurate haptic force models to describe the feel of physical devices. The models are generated by fitting polynomial hypersurfaces to experimentally measured motion and force data obtained by actuating physical devices. The methods are demonstrated by modeling the complex force-deflection profile of a nonlinear mass-spring-damper system. Initial results indicate that polynomial hypersurfaces have the potential to accurately describe the dynamics of nonlinear devices.

Keywords

haptic interfaces; polynomials; shock absorbers; springs (mechanical); data-driven haptic modeling; force-deflection profile; haptic force models; nonlinear mass-spring-damper system; polynomial hypersurfaces; Acceleration; Analytical models; Differential equations; Force measurement; Haptic interfaces; Nonlinear equations; Polynomials; Switches; Teleoperators; Virtual environment; Haptic Modeling; Polynomial Hypersurfaces; System Identification;

fLanguage

English

Publisher

ieee

Conference_Titel

EuroHaptics conference, 2009 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2009. Third Joint

Conference_Location

Salt Lake City, UT

Print_ISBN

978-1-4244-3858-7

Type

conf

DOI

10.1109/WHC.2009.4810848

Filename

4810848