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 . 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
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