Virtual grasping of a whole hand model and adaptive force feedback method using a haptic device

Abstract

We propose a method for rigging a virtual whole hand model based on a few number of major input positions from device. Also, generating a grasp with real-time collision detection and creating proxy points on the surface of object for preventing visual penetration are presented. The dynamic model calculating device force based on the grasp pattern and property of the object is described and the change of user's grasp force according to device force is examined. We demonstrate the various grasps are generated to different objects and the grasp force of a user shows significantly relationship with the force feedback.