An artificial neural network based haptic rendering of contact with deformable bodies

Wei Chen, Guanyang Liu, Yuru Zhang, Bijan Shirinzadeh

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

Abstract

This paper presents an artificial neural network based 3-DOF haptic rendering scheme to render the contact force between a rigid object and a deformable body in a virtual environment. The finite-element method (FEM) technique is widely used for solving the deformation problem. However, this method has a heavy computational load to get accurate result, so it is difficult to apply this method to haptic simulating. To solve the challenging problem, in this paper, we presented a new motion control scheme to divide the motion of a rigid virtual object into three sub-movements along the three axes of a Cartesian-coordinate, based on which three single-input and single-output neural networks can be separately used to compute the three feedback force components along all the coordinate axes. The vector composition of the three force components is the feedback force exerted to a user through a haptic device. The proposed method can ensure the high accuracy and the high update rate of 3-DOF haptic rendering of deformable bodies. To testify the accuracy of the artificial neural network for haptic rendering, a medical robot is used to measure the data of the neural network training in the physical world, and a haptic device based experiment with a virtual environment validates the proposed algorithm for 3-DOF haptic rendering.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Mechatronics and Automation, ICMA 2016
Subtitle of host publicationHarbin, Heilongjiang; China; 7-10 August 2016
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages2332-2337
Number of pages6
ISBN (Electronic)9781509023943, 9781509023967
ISBN (Print)9781509023974
DOIs
Publication statusPublished - 1 Sep 2016
EventIEEE International Conference on Mechatronics and Automation 2016 - Harbin, Heilongjiang, China
Duration: 7 Aug 201610 Aug 2016
Conference number: 13th

Conference

ConferenceIEEE International Conference on Mechatronics and Automation 2016
Abbreviated titleICMA 2016
CountryChina
CityHarbin, Heilongjiang
Period7/08/1610/08/16

Keywords

  • 3-DOF haptic rendering
  • Artificial neural network
  • The FEM method

Cite this

Chen, W., Liu, G., Zhang, Y., & Shirinzadeh, B. (2016). An artificial neural network based haptic rendering of contact with deformable bodies. In 2016 IEEE International Conference on Mechatronics and Automation, ICMA 2016: Harbin, Heilongjiang; China; 7-10 August 2016 (pp. 2332-2337). [7558929] IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICMA.2016.7558929