Construction of Measurement, Transfer and Reproduction System of Elasticity

本研究的目的是建立可变形物体弹性的测量、传输与再现系统，首先发展了以下三种适合于弹性信息显示的测量与记录方法，1.物体的反作用力由力场定义。2.物体的变形由刚度矩阵定义。3.物体的行为由一组在每个自由度上施加脉冲力后的时间变形模式，我们称之为脉冲响应变形模型。通过计算模型与相互作用力历史的卷积，得到相互作用引起的变形。计算相互作用力的时间复杂度与模型的复杂度无关。此功能对于时间要求严格的应用程序是有利的。同时，计算物体变形的时间复杂度与模型的复杂度成线性关系。然后，利用机械臂、力传感器、光学位置传感器（OPTOTRAK）构建了测量系统，并进行了仿真，最后对所提出的方法的可行性和性能进行了评估和验证。

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.