Animating a synergy-based deformable hand avatar for haptic grasping

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

Volumn 6192 LNCS, Issue PART 2, 2010, Pages 203-210

  Mulatto, Sara ^a   Formaglio, Alessandro ^a   Malvezzi, Monica ^a   Prattichizzo, Domenico ^a,b  

^a UNIVERSITY OF SIENA   (Italy)

^b ISTITUTO ITALIANO DI TECNOLOGIA   (Italy)

Author keywords

animation; grasping; hand; multicontact; synergies

Indexed keywords

ALGEBRAIC COMPUTATIONS; BIOMECHANICAL MODEL; GRASPING; HAND MOTION; HAPTIC DEVICES; MULTI-CONTACT; VIRTUAL GRASPING;

ANIMATION; BIOMECHANICS; DEFORMATION;

MERGERS AND ACQUISITIONS;

EID: 77955144819     PISSN: 03029743     EISSN: 16113349     Source Type: Book Series    
DOI: 10.1007/978-3-642-14075-4_29     Document Type: Conference Paper

References (18)

1. Popescu, V., Burdea, G., Bouzit,M.: Virtual Reality SimulationModeling for a Haptic Glove, pp. 195-200 (1999)
2. Kry, P., James, D., Pai, D.: EigenSkin: real time large deformation character skinning in hardware, pp. 153-159 (2002)
3. Santello, M., Flanders, M., Soechting, J.F.: Gradual molding of the hand to object contours. The Journal of Neuroscience 79(3), 1307-1320 (1998)
4. Santello,M., Soechting, J.F.: Force synergies for multifingered grasping. Experimental Brain Research 133(4), 457-467 (2000)
5. Lee, J., Kunii, T.: Model-based analysis of hand posture. IEEE Computer Graphics and Applications 15(5), 77-86 (1995)
6. Lin, J.,Wu, T.:Modeling the Constraints of Human Hand Motion. Urbana 51(61), 801 (2000)
7. Baud-Bovy, G., Prattichizzo, D., Brogi, N.: Does torque minimization yield a stable human grasp? In: STAR, Springer Tracks in Advanced Robotics. Springer, Heidelberg (2005)
8. Hartenberg, R., Denavit, J.: Kinematic synthesis of linkages. McGraw-Hill, New York (1964)
9. Kim, K., Youm, Y., Chung,W.: Human kinematic factor for haptic manipulation: The wrist to thumb. In: 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2002, Proceedings, pp. 319-326 (2002)
10. Youm, Y., Holden, M., Dohrmann, K.: Finger Ray Ratio Study. Technical report (Technical Report on Wrist Project)
11. Kavan, L.: Real-time Skeletal Animation. PhD thesis, Faculty of Electrical Engineering Department of Computer Science and Engineering. Czech Technical University (2007)
12. Prattichizzo, D., Malvezzi, M., Bicchi, A.: On motion and force control of grasping hands with postural synergies. In: 2010 Robotics: Science and Systems Conference, Zaragoza (2010)
13. Sciavicco, L., Siciliano, B.: Modelling and control of robot manipulators. Springer, Heidelberg (2000)
14. Chao, E.: Biomechanics of the hand: a basic research study. World Scientific Publishing Company, Singapore (1989)
15. de Pascale, M., Prattichizzo, D.: The Haptik Library: a component based architecture for uniform access to haptic devices. IEEE Robotics and Automation Magazine 14(4), 64-75 (2007)
16. Formaglio, A., Fei, M., Mulatto, S., de Pascale, M., Prattichizzo, D.: Autocalibrated gravity compensation for 3DoF impedance haptic devices. In: Ferre, M. (ed.) EuroHaptics 2008. LNCS, vol.5024, pp. 43-52. Springer, Heidelberg (2008)
17. Harwin, W., Melder, N.: Improved Haptic Rendering for Multi-Finger Manipulation Using Friction Cone based God-Objects. In: Proceedings of Eurohaptics Conference, Citeseer, pp. 82-85 (2002)
18. Barbagli, F., Frisoli, A., Salisbury, K., Bergamasco, M.: Simulating human fingers: a soft finger proxy model and algorithm. In: Proceedings of 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2004, pp. 9-17 (2004)