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The Scaling of the Haptic Perception on the Fingertip Using an Interface of Anthropomorphic Finger Motions Read chapter Read first chapter

2015 | OriginalPaper | Chapter

Object Manipulation by Deformable Hand

Authors : Koichi Hirota, Yusuke Ujitoko, Kazuya Kiriyama, Kazuyoshi Tagawa

Published in: Haptic Interaction

Publisher: Springer Japan

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Abstract

This study investigated the implementation of a deformable elastic hand model. We used the finite element method (FEM) and the penalty method for physics-based computations of forces and deformations on the contact area. To accelerate the computation, we developed an efficient method that utilizes the link structure of the hand. Using this model, users can perform object manipulation and get visual feedback from the deformations in the skin.

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previous chapter Normal and Tangential Force Decomposition and Augmentation Based on Contact Centroid
next chapter A Proposal of Wire-Driven Bimanual Multi-finger Haptic Display SPIDAR-10
Literature
1.
Borst, C.W., Indugula, A.P.: Realistic virtual grasping. In: Virtual Reality, 2005. Proceeding. VR 2005. IEEE, pp. 91–98 (2005)
2.
Perez, A.G., Cirio, G., Hernandez, F., Garre, C., Otaduy, M.A.: Strain limiting for soft finger contact simulation. In: World Haptics Conference (WHC), 2013, pp. 79–84 (2013)
Metadata
Title
Object Manipulation by Deformable Hand
Authors
Koichi Hirota
Yusuke Ujitoko
Kazuya Kiriyama
Kazuyoshi Tagawa
Copyright Year
2015
Publisher
Springer Japan
Book
Haptic Interaction

Print ISBN: 978-4-431-55689-3

Electronic ISBN: 978-4-431-55690-9

Copyright Year: 2015

DOI
https://doi.org/10.1007/978-4-431-55690-9_27