Shape modeling of soft real objects using force-feedback haptic interface

In this paper, we propose an interactive shape modeling system using a regular force-feedback haptic interface designed for soft, deformable real objects. The modeling system consists of a regular haptic interface with a force sensor. The user taps on the surface of an object to collect sample points. Our system detects a contact and then compensates for an error in the sampled point position occurring due to surface deformation. The sampled points are then processed by the alpha-shape algorithm to reconstruct a mesh model of the object. The performance of the proposed system is experimentally compared with a standard 3D optical scanner. The proposed system allows the user to easily model the shape of real soft objects with a common haptic interface, without any further equipment, and can be a viable alternative for deformable objects with inadequate optical properties for optical scanners.