A real time human grasp simulation with deformable fingertips

Authors:
M. Rougeron;J. Le Garrec;A. Micaelli;F. B. Ouezdou
Affiliations:
CEA LIST, Route du Panorama, Fontenay aux Roses, France;CEA LIST, Route du Panorama, Fontenay aux Roses, France;CEA LIST, Route du Panorama, Fontenay aux Roses, France;LIS Versailles, University of Versailles, Velizy, France
Venue:
MS'06 Proceedings of the 17th IASTED international conference on Modelling and simulation
Year:
2006

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Abstract

This paper presents a human grasp simulation in a real-time context. We consider a 12-dof hand grasping quasi-rigid objects for fine manipulation. 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 computation of forces that fingers must impose at each contact is presented with a new technique for solving that optimization problem, allowing for real time simulation. Fingers are controlled with forces generated by a set of 23 muscles inserted on bones. This work is part of a virtual human project and combines robotic control experiments and theoric laws of deformations in a global simulation.