NDLI: A Control Approach For Real Time Human Grasp Simulation with Deformable Fingertips

Content Provider	IEEE Xplore Digital Library
Author	Rougeron, M. Le Garrec, J. Micaelli, A. Ouezdou, F.B.
Copyright Year	2006
Description	Author affiliation: CEA LIST, Fontenay-aux-Roses (Rougeron, M.; Le Garrec, J.; Micaelli, A.)
Abstract	This paper presents a control approach for human grasp simulation in a real-time context. We consider a 12-dof hand grasping quasi-rigid objects, either for fine manipulation or perturbation rejection. 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 resolution of contact forces is used for controlling the system with a set of 23 muscles. This paper presents also a new technique for solving the grasping force optimization problem, allowing real time simulation. This work is part of a virtual human project and combines robotic control experiments and theoretical laws of deformations in a global simulation
Starting Page	4634
Ending Page	4640
File Size	305054
Page Count	7
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282172
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humans Deformable models Context modeling Grasping Stability Friction Force control Control systems Muscles Robots
Content Type	Text
Resource Type	Article

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