A perceptually-inspired force model for haptic texture rendering
APGV '04 Proceedings of the 1st Symposium on Applied perception in graphics and visualization
Interaction capture and synthesis
ACM SIGGRAPH 2006 Papers
Exploring affective design for physical controls
Proceedings of the SIGCHI Conference on Human Factors in Computing Systems
FORK-1S: interactive compliant mechanisms with parallel state computation
Proceedings of the 18th meeting of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games
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Accurate dynamic models of human hands grasping haptic devices can help to inform stability analyses, control algorithms, device design, and technology development efforts. The current study develops and tests a lumped second-order dynamic model for nine subjects holding a haptic knob in a simple pinch grasp. Results include steadily increasing damping and stiffness parameters with increasing grip force, and compare well to the findings of earlier investigators. Moment of inertia estimates, expected to remain constant, dropped for very large grip forces, illustrating limitations in the second-order model.