A method for abstraction and reproduction of environment based on frequency characteristic

With progress in information technology, recording and reproduction technologies for sound and images have been improved. In addition, recording and reproduction technologies for haptic displays are developing. This paper proposes a method for abstraction and reproduction of the environmental stiffness based on the frequency characteristic. In the proposed method, environmental position response from a force input is measured. Then, the Fourier-transformed position response divided by the Fourier-transformed force input is calculated for abstraction of the environmental frequency characteristic. The control system for reproduction of the environment is designed on the basis of the abstracted environmental frequency characteristic. A finite impulse response (FIR) filter is utilized for the reproduction of the environmental frequency characteristic. Finally, the validity of the proposed method is shown by experimental results.