Simulating human fingers: a soft finger proxy model and algorithm

被引：41

作者：

Barbagli, F ^{[1
]}

Frisoli, A ^{[1
]}

Salisbury, K ^{[1
]}

Bergamasco, M ^{[1
]}

机构：

[1] Stanford Univ, Robot Lab, Stanford, CA 94305 USA

来源：

12TH INTERNATIONAL SYMPOSIUM ON HAPTIC INTERFACES FOR VIRTUAL ENVIRONMENT AND TELEOPERATOR SYSTEMS, PROCEEDINGS | 2004年

关键词：

D O I：

10.1109/HAPTIC.2004.1287172

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents models and algorithms that can be used to simulate contact between one or more fingertips and a virtual object. First, the paper presents various models for rotational friction obtained from in-vivo fingertip models previously proposed in the robotics and biomechanics community. Then the paper describes two sets of experiments that were Performed on in-vivo fingertips in order to understand which of the models presented fits best with the real rotational friction properties of the human fingertips. Finally an extension of the god object/proxy algorithm which allows the simulation of soft finger contact, i.e. a point-contact with friction capable of supporting moments (up to a torsional friction limit) about the contact normal, is proposed. The resulting algorithm is computationally efficient, being point-based, while retaining a good level of realism.

引用

页码：9 / 17

页数：9

共 22 条

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[2]

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[3]

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