Animating a synergy-based deformable hand avatar for haptic grasping

Authors:
Sara Mulatto;Alessandro Formaglio;Monica Malvezzi;Domenico Prattichizzo
Affiliations:
Department of Information Engineering, University of Siena;Department of Information Engineering, University of Siena;Department of Information Engineering, University of Siena;Department of Information Engineering, University of Siena and Italian Institute of Technology, Genova, Italy
Venue:
EuroHaptics'10 Proceedings of the 2010 international conference on Haptics - generating and perceiving tangible sensations: Part II
Year:
2010

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Abstract

A 3D deformable hand avatar for virtual grasping using multiple single-contact-point haptic devices is introduced. The proposed technique has two main advantages. First, the whole hand motion is reconstructed by measuring only fingertips positions and using a biomechanical model of the hand along with the postural synergies characterizing grasping actions. Secondly, this technique requires only simple algebraic computations.