3D environmental force: Position impedance variation for different motion parameters

The skill preservation of an expert has been a serious problem for countries with aging population because decrease of the number of successors. The concepts of haptic database and force sensor recorder which have been developed recently suggests solutions of using third multimedia type of haptic communication. Haptic information is a bilateral information of the law of action and reaction. The reaction from real world includes not only position and force information but also environmental impedance. In this paper, the behavior of environmental impedance has been studied with the changes of the different motion parameters like applied force, velocity, position and depth on the object 3D space. This idea is exemplified using a rubber balloon and a rubber sponge which is often modeled using simple linear equations. The experimental results show the importance of considering motion parameters when abstracting haptic information for a haptic database. Nonlinear impedance variations against the motion parameters suggest the necessity of adopting complex haptic abstraction techniques.