A realistic approach for grasping and moving virtual objects

Deals with the problem of the control of grasping procedures of virtual objects in virtual environments according to realistic behavior. The authors present a complete theoretical solution to the problem with particular attention to the constraints imposed by real time application in virtual reality. The authors describe the system architecture utilized for carrying out preliminary tests of the grasping procedure. First experimental results are presented.<<ETX>>

[1]  James K. Hahn,et al.  Realistic animation of rigid bodies , 1988, SIGGRAPH.

[2]  Hiroo Iwata,et al.  Artificial reality with force-feedback: development of desktop virtual space with compact master manipulator , 1990, SIGGRAPH.

[3]  Bernard Roth,et al.  Analysis of Multifingered Hands , 1986 .

[4]  M. Bergamasco,et al.  Design considerations for glove-like advanced interfaces , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[5]  D. Baraff.  Dynamic simulation of nonpenetrating rigid bodies , 1992 .

[6]  Daniel Thalmann,et al.  Simulation of object and human skin formations in a grasping task , 1989, SIGGRAPH.

[7]  David Baraff,et al.  Interactive simulation of solid rigid bodies , 1995, IEEE Computer Graphics and Applications.

[8]  D E Thompson,et al.  A kinematic model of the flexor tendons of the hand. , 1989, Journal of biomechanics.

[9]  M. Jeannerod.  The timing of natural prehension movements. , 1984, Journal of motor behavior.

[10]  S. Gruber,et al.  Robot hands and the mechanics of manipulation , 1987, Proceedings of the IEEE.

[11]  Scott S. Fisher,et al.  Telepresence Master Glove Controller For Dexterous Robotic End-Effectors , 1987, Other Conferences.

[12]  Matthew T. Mason,et al.  Robot Hands and the Mechanics of Manipulation , 1985 .

[13]  M. Bergamasco.  Design of hand force feedback systems for glove-like advanced interfaces , 1992, [1992] Proceedings IEEE International Workshop on Robot and Human Communication.

[14]  Massimo Bergamasco.  The GLAD-IN-ART Project , 1993 .

[15]  Edmund Y. S. Chao,et al.  Biomechanics of the hand : a basic research study , 1989 .