A Multi-sensor Approach for Grasping and 3D Interaction (original) (raw)

Multi-Contact Grasp Interaction for Virtual Environments

Journal of Virtual Reality …, 2008

The grasping of virtual objects has been an active research field for several years. Solutions providing realistic grasping rely on special hardware or require time-consuming parameterizations. Therefore, we introduce a flexible grasping algorithm enabling grasping without computational complex physics. Objects can be grasped and manipulated with multiple fingers. In addition, multiple objects can be manipulated simultaneously with our approach. Through the usage of contact sensors the technique is easily configurable and versatile enough to be used in different scenarios.

Methodology for Controlling Contact Forces in Interactive Grasping Simulation

International Journal of Virtual Reality

The paper proposes a new methodology to interactively simulate grasping of virtual product prototypes with the goal to evaluate the contact forces between the grasping hand and product as well as the load on the human arm. Interaction between product concepts and the users happens in a virtual environment, in which the user controls a virtual hand interactively. The contact between the virtual hand and the grasped product is simulated and visual feedback is provided to the user. Controlling the virtual hand interactively in real time holds many challenges. One of the challenges is mapping the motion of the user to contact forces, which then results in stable grasping of objects. In this paper we present a new methodology to convert and map the measured position of the real hand into contact forces so that the contact between the virtual hand and the object remains stable. Our approach applies a multi-objective optimization that takes into account the posture and anthropometric prope...