Akihito Sano

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—Modeling of friction force is cumbersome because of its discontinuity at zero velocity. This paper presents a set of discrete time friction models for the purpose of haptic rendering and virtual environment construction. These models allow friction to be treated as an admittance-type or impedance-type element of a virtual environment. They are derived from(More)
This paper introduces a device for enhancing detection of surface undulation through active touch. This device, which we call a “tactile contact lens,” is composed of a sheet and numerous pins arranged on one side of the sheet. Experimental results show that a small bump on a surface can be detected more accurately through this device than by(More)