A Control Approach For Real Time Human Grasp Simulation with Deformable Fingertips

This paper presents a control approach for human grasp simulation in a real-time context. We consider a 12-dof hand grasping quasi-rigid objects, either for fine manipulation or perturbation rejection. The objective is to translate and rotate the object with respect to non-sliding conditions. In ord...

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Bibliographic Details
Main Authors: Rougeron, M., Le Garrec, J., Micaelli, A., Ouezdou, F.B.
Format: Conference Proceeding
Language:English
Subjects:
Context modeling
Control systems
Deformable models
Force control
Friction
Grasping
Humans
Muscles
Robots
Stability
Online Access:Request full text
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Summary:This paper presents a control approach for human grasp simulation in a real-time context. We consider a 12-dof hand grasping quasi-rigid objects, either for fine manipulation or perturbation rejection. The objective is to translate and rotate the object with respect to non-sliding conditions. In order to improve the visual realism and the stability of the simulation, we use a locally deformable model on fingertips with friction. The resolution of contact forces is used for controlling the system with a set of 23 muscles. This paper presents also a new technique for solving the grasping force optimization problem, allowing real time simulation. This work is part of a virtual human project and combines robotic control experiments and theoretical laws of deformations in a global simulation
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2006.282172