Dynamic deformation of solid primitives with constraints
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
User performance in relation to 3D input device design
ACM SIGGRAPH Computer Graphics
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Pseudo-Haptic Feedback: Can Isometric Input Devices Simulate Force Feedback?
VR '00 Proceedings of the IEEE Virtual Reality 2000 Conference
Presence: Teleoperators and Virtual Environments
The Tango: A Tangible Tangoreceptive Whole-Hand Human Interface
WHC '05 Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
The Hand is Slower than the Eye: A Quantitative Exploration of Visual Dominance over Proprioception
VR '05 Proceedings of the 2005 IEEE Conference 2005 on Virtual Reality
Grip force tracking system for assessment and rehabilitation of hand function
Technology and Health Care
Gnu/Maverik: A Microkernel for Large-Scale Virtual Environments
Presence: Teleoperators and Virtual Environments
Whole-hand kinesthetic feedback and haptic perception in dextrous virtual manipulation
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
HandNavigator: hands-on interaction for desktop virtual reality
Proceedings of the 2008 ACM symposium on Virtual reality software and technology
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In this article we present a new isometric input device for multi-fingered grasping in virtual environments. The device was designed to simultaneously assess forces applied by the thumb, index, and middle finger. A mathematical model of grasping, adopted from the analysis of multi-fingered robot hands, was applied to achieve multi-fingered interaction with virtual objects. We used the concept of visual haptic feedback where the user was presented with visual cues to acquire haptic information from the virtual environment. The virtual object corresponded dynamically to the forces and torques applied by the three fingers. The application of the isometric finger device for multi-fingered interaction is demonstrated in four tasks aimed at the rehabilitation of hand function in stroke patients. The tasks include opening the combination lock on a safe, filling and pouring water from a glass, muscle strength training with an elastic torus, and a force tracking task. The training tasks were designed to train patients' grip force coordination and increase muscle strength through repetitive exercises. The presented virtual reality system was evaluated in a group of healthy subjects and two post-stroke patients (early post-stroke and chronic) to obtain overall performance results. The healthy subjects demonstrated consistent performance with the finger device after the first few trials. The two post-stroke patients completed all four tasks, however, with much lower performance scores as compared to healthy subjects. The results of the preliminary assessment suggest that the patients could further improve their performance through virtual reality training.