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World Haptics Conference (2009)
Salt Lake City, UT, USA
Mar. 18, 2009 to Mar. 20, 2009
ISBN: 978-1-4244-3858-7
pp: 428-433
Kazuyoshi Tagawa , Intelligent Modeling Laboratory, The University of Tokyo, Japan
Koichi Hirota , Graduate School of Frontier Sciences, The University of Tokyo, Japan
Michitaka Hirose , Graduate School of Information Science and Technology, The University of Tokyo, Japan
As an approach to real-time simulation of haptic interaction with deformable objects, we proposed a record-reproduction method called ‘impulse response deformation model’ (IRDM), in which the deformation of an object shape is computed by convolving temporal sequence of interaction force with a pre-computed response of model to impulse force. Although, IRDM has an advantage that its computation cost of interaction force is independent of model complexity, it requires a huge amount of memory to store impulse response data corresponding to the combination of all input and output degrees of freedom. This paper discusses an approach to solve this problem by compressing the impulse response data. The key idea is to substitute similar impulse response waveforms by modification of a smaller number of representative waveforms. In our prototype implementation, a correlation coefficient was used as an index of the similarity. By this proposed approach the experimental implementation performance proved that the amount of storage was reduced to 1.1% of the original data size in cases where the threshold correlation coefficient value was 0.8.

K. Hirota, M. Hirose and K. Tagawa, "A data compression method for impulse response deformation model," World Haptics Conference(WHC), Salt Lake City, UT, USA, 2009, pp. 428-433.
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