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Data-driven haptic modeling using polynomial hypersurfaces

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2 Author(s)
Theodosis, P.A. ; Brigham Young Univ., Provo, UT ; Colton, M.B.

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.

Published in:

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

Date of Conference:

18-20 March 2009

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