NDLI: Real-time haptic rendering using multi-rate output-estimation with ARMAX model

Content Provider	IEEE Xplore Digital Library
Author	Kyungno Lee Doo Yong Lee
Copyright Year	2007
Description	Author affiliation: KAIST, Daejeon (Kyungno Lee)
Abstract	This paper presents multi-rate output-estimation using an auto-regressive-moving-average with exogenous variable (ARMAX) model for real-time haptic rendering. In medical simulation, physics-based simulation of the organs and tissues including cutting and suturing is necessary for high-fidelity visual and haptic interaction. A deformation model based on a finite-element model or a mass-spring model is frequently used, which incurs heavy computational burden and time delay. Reflective force cannot be computed at 1 kHz because of the heavy computational overhead. This problem is resolved by employing a multi-rate output-estimation using ARMAX model that improves the original version of the multi-rate output-estimation with P-matrix resetting. High-fidelity reflective force is computed from the estimated input-output model at 1 kHz and the performance is evaluated with simulation.
Starting Page	1821
Ending Page	1826
File Size	1525595
Page Count	6
File Format	PDF
ISBN	9788995003862
DOI	10.1109/ICCAS.2007.4406641
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-17
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	ICASE
Subject Keyword	Deformable models Real time systems Medical simulation Computational modeling Humans Haptic interfaces Electronic mail Graphics ARMAX model Multi-rate output-estimation Physics computing real-time haptic rendering White noise
Content Type	Text
Resource Type	Article

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