Display of Virtual Soft Object by Simultaneous Control of Fingertip Contact Area and Reaction Force

Author(s):  
Y. Ikeda ◽  
K. Fujita
2019 ◽  
Vol 9 (19) ◽  
pp. 4176 ◽  
Author(s):  
Chenhao Yang ◽  
Songlin Xiao ◽  
Yang Yang ◽  
Xini Zhang ◽  
Junqing Wang ◽  
...  

Purpose: Given the high incidence of patellofemoral pain syndrome (PFPS) in runners, this study aimed to investigate the immediate effect of shoes with different minimalist indices (MI) on the mechanical loads of the patellofemoral joint. Methods: Fifteen healthy male rearfoot strike runners were recruited to complete overground running trials at 3.33 m/s (±5%) in two running shoe conditions (MI = 26% versus MI = 86%). The amount of ten Vicon infrared cameras (100 Hz) and two Kistler force plates (1000 Hz) were used to collect kinematic and ground reaction force (GRF) data simultaneously. Quadriceps strength, patellofemoral contact force, patellofemoral contact area, and patellofemoral contact stress were calculated. Results: No significant differences were observed in the impact force and the second peak of the vertical GRF between the two shoe conditions. Compared to wearing low-MI shoes, wearing high-MI shoes showed that the maximum flexion angle of the knee, the contact area of patellofemoral joint and the peak knee extension moment reduced significantly (p < 0.01), and the peak patellofemoral contact force and stress decreased significantly (p < 0.05). Conclusion: These findings suggest that wearing high-MI shoes significantly decreases the patellofemoral contact force and patellofemoral joint stress by reducing the moment of knee extension, thus effectively reducing the load of the patellofemoral joint during the stance phase of running and potentially lowering the risk of PFPS.


Materials ◽  
2020 ◽  
Vol 13 (5) ◽  
pp. 1170 ◽  
Author(s):  
Ming-Yuan Shen ◽  
Yung-Chuan Chiou ◽  
Chung-Ming Tan ◽  
Chia-Chin Wu ◽  
Wei-Jen Chen

In this study, the effect of wall thickness (15–25 mm) on the stress–strain response of hollow-cylinder rubber fenders were investigated by conducting monotonic compression tests. It was found that a progressive increase in lateral bending deformation was observed during monotonic compression. Simultaneously, the extent of the lateral deflection decreased notably with an increasing wall thickness. From the experimental results, the fact is accepted that buckling occurred in the tested fender due to the fact that the ratio of the height to the wall thickness was higher than four in all of the considered cases. Moreover, an s-shape profile appeared in the stress–strain curves, which became clearer as the wall thickness was reduced from 25 to 15 mm. To assess the performance of fenders objectively, an energy-effectiveness index, C E R , was introduced to quantify the energy absorption capacity of the fender. From the experimental observations, it was inferred that the contact area of the folded inner surface of the fender produced under compression generated an additional reaction force and affected the shape of the stress–strain curve since the measured load consisted of two reaction forces: one caused by the self-contact area, and the other resulted from the compression-bending deformation that occurred in the side wall of the fender. To examine this assertion, a finite element analysis (FEA) was conducted and confirmed the effect of the reaction force on the sensitivity of the s-shape characteristic of the stress–strain curve. Finally, a polynomial regression was conducted and the calculated results based on the fourth-degree stress polynomial function correlated very well with the measured stress–strain curves.


Author(s):  
Motoki Miyoshi ◽  
Parinya Punpongsanon ◽  
Daisuke Iwai ◽  
Kosuke Sato

FDM 3D printers allow massive creativity in personal products, but their potential has been limited due to inability to manipulating material properties. Previous work had demonstrated that the desired roughness could be presented simply by controlling the spatial density of tiny pins on a printed surface. This article offers a means of providing the desired softness perception of a printed surface and the desired roughness to expand the haptic dimension over which a user can exert control. Specifically, we control the softness by manipulating the infill structures of a printed surface. However, it is known that a skin contact area affects softness perception. The roughness, which is controlled by pins’ density, may also affect the perceived softness of a printed surface. Therefore, we investigate how the internal structures and the density of the pins affect softness perception. Through psychophysical experiments, we derive a computational model that estimates the perceived softness from the density of the pins and the infill density of a printed surface.


2020 ◽  
Vol 64 (1-4) ◽  
pp. 745-752
Author(s):  
Taku Wakayama ◽  
Takeshi Okuyama ◽  
Mami Tanaka

In this study, a palpation sensor system is developed to detect a lump in a soft object. The developed sensor system consists of a contact part using a bearing, two linear sliders and a 3-axis load cell. While the roller type contact part is scanned against a soft object, reaction force applied to the contact part is measured. Lumps are detected by measuring fluctuation of the reaction force. In experiments, the sensor system is scanned against the samples. From the results, it is found that the lump with a small diameter embedded at a deep position.


2012 ◽  
Vol 24 (6) ◽  
pp. 958-966 ◽  
Author(s):  
Lingtao Huang ◽  
◽  
Takuya Kawamura ◽  
Hironao Yamada ◽  

We developed a master-slave operation system for a teleoperation construction robot that recognizes the hardness of a grasped object. To manipulate an object, the system uses an excavator with four degrees of freedom as a slave and two joysticks with force feedback equipment as a master. Based on creating a friendly user interface, the operation system uses multimodel sensory force and visual feedback to successfully discriminate among soft object types during operation. The construction robot measures the hardness of an object using the pressure of a piston obtained by pressure sensors on the cylinder and the closed or open state of a fork glove in the process of grasping an object. By incorporating an object-hardness calculation method with master-slave control of the system, an operator then can feel the sense of reaction force to joysticks and distinguish the hardness of an object while controlling the construction robot. In addition, parameters on object-hardness calculation are presented to the operator to improve the system’s controllability. Color prompting is provided in virtual space to enable the operator to identify the hardness of an object. To evaluate the system, object-type recognition tests were conducted, including the grasping and conveying of blocks of concrete, tires, urethane foam and sponge foam. According to statistical analysis of experimental results, we confirmed that the operation system contributes to achieving the successful discrimination of object hardness during teleoperation work.


1993 ◽  
Vol 3 (11) ◽  
pp. 2151-2159 ◽  
Author(s):  
Claudia Eberlein

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