Estimation of Friction Characteristics with Haptic Vision

Virtual reality technologies are increasingly being applied to various fields. Recently, from the importance of the sense of touch for human-computer interaction, the force feedback devices have been developed and put into practical use. For high fidelity simulation of phenomena in real-world, the haptic information such as weight, friction, and elasticity etc., are important. In this paper we propose a method for automatic extraction of friction characteristic based on Haptic Vision; we estimate the parameters of the conventional friction models from by analyzing observed shape and force data obtained by Haptic Vision and then evaluate the performance of each friction model.