High quality haptic interaction with a soft body for remote collaboration

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In medicine, safe and efficient training environment is required. This study aimed at the establishment of remote collaborative environment with high quality haptic interaction, and achieved the technologies to compensate transfer and computation delays at the situation of haptic interaction with a soft body. Real-time calculation method for geometrically non-linear deformation has been developed. The method allows us to interact with an object which has more than 200 nodes at video rate, 30Hz. The conventional method was difficult to perform large deformation with force feedback. Both biomedical signal processing and machine learning allowed movement estimation in prior to the actual motion with surface EMG signals. This project established the fundamental technologies of remote collaborative environment with a soft body by developing the methods to compensate delays induced by high calculation and data transfer in a soft body manipulation.