Attitude Control and Deformation Simulation of Virtual Hand
Jiting Li · Computer and Modernization · 2013
The hand rehabilitation system iHandRehab combines robotics with virtual reality to do rehabilitation training for hand injury patients.The training tasks in active mode require us to simulate the process of hand grasping / releasing object in virtual environment.The difficulties are concentrated in posture control and local deformation calculation of hand when it was grasping rigid object.This paper simplifies the index and thumb finger into serial mechanism with 3 phalanges respectively and confirms the final posture of virtual hand according to the constraints among phalanges during virtual grasping.The phalange and object are respectively modeled as pointshell and distance field in collision detection,and puts forward to calculate the local deformation in contact region based on the insertion information of collision points.The experimental results show that this model could accurately simulate the real state of human hand when it is grasping rigid object.