This paper proposes a modeling method for the haptic information from the environmental characteristics of a plane. A human obtains much haptic information by touching an object. For the haptic information derived from a rubbing motion, this paper particularly focuses on the vibration components of the friction force. Although there are many methods to describe the friction force, it is difficult to treat them quantitatively. This paper proposes applying Cepstral analysis to haptic information to easily extract and treat unique features of the environment. A technique for representing the extracted frequency features is also presented. An experiment was performed using a 2 DOF system to show the validity of the proposal.
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