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Simulation of Grasping Deformable Objects with a Virtual Human Hand

By Tong Cui, Jing Xiao, Senior Member and Aiguo Song


Abstract—This paper addresses a largely open problem in haptic simulation and rendering: contact force and deformation modeling for haptic simulation of grasping a deformable object with a realistic virtual human hand, especially in power grasps. The virtual hand model consists of meshes of realistic shapes for the finger links and palm of a hand. We tackle the problem by adopting the non-linear contact force model and the beam-skeleton model for global shape deformation introduced in [5]. The results verify the efficiency of contact force and deformation modeling for both power grasp and precision grasp of deformable objects with reasonable realism. M I

Year: 2008
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