object deformation and force feedback for virtual chopsticks
This paper proposes a virtual chopsticks system using force feedback and object deformation with FEM (finite element model). The force feedback model is established by using a leverage based on the correct chopsticks handling manner, and the force is applied to the index and middle finger. The object deformation is obtained in real-time by calculating inverse stiffness matrix beforehand. We performed experiments to compare the hardness of virtual objects. As a result, we found that a recognition rate of almost 100\% can be achieved between virtual objects where the logarithmic difference in hardness is 0.4 or more, while lower recognition rates are obtained when the difference in hardness is smaller than this.
deformation force feedback virtual chopsticks fem object manipulation virtual environment