Construction of Measurement, Transfer and Reproduction System of Elasticity

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The objective of this research is to construct measurement, transfer and reproduction system of elasticity of deformable objects.At first, we have developed following three measurement and record methods which are suitable for display of elastic information,1.The reaction forces of an object are defined by a force field.2.The deformation of an object is defined by a stiffness matrix.3.The behavior of an object is defined by a set of temporal deformation patterns after impulse force is applied to each degree of freedom, which we call impulse response deformation model. Deformation resulting from interaction is obtained by computing convolution of the model and the history of interaction force. The time complexity of computing interaction force is independent of the complexity of the model. This feature is advantageous for time-critical applications. Also, the time complexity of computing object deformation is linearly proportional to the complexity of the model.And then, we have constructed measurement system using a robot arm, a force sensor, a optical position sensor (OPTOTRAK) and simulation.Finally, we have evaluated and confirmed feasibility and performance of the proposed methods.