Research on Method to Generation of Virtual Hand Motion
Xiaosong Mao, De-Guo Yuan · 2009
This is where the abstract should be placed. Hand motion of maintenance stuff is one of the significant aspects in virtual maintenance applications. The method to generate Hand motion in both real time and continuity was studied. A virtual hand model with intrinsic anatomic structure was firstly presented and secondly, based on analysis of various virtual human motion controlling algorithms, a prioritized Damped-IK method was suggested which resolved the singularity, conflicts in multiple task constraints of convention IK by making a damped coefficient. Hand motion with multi-constraints of priority can also be perfectly resolved using orthogonal projection of Jacobian matrix. Finally, the pointing at, grasping and nipping motions were verified in an example application and the validity and robustness of this algorithm were proved.