Title :

Aggregate Constraints for Virtual Manipulation with Soft Fingers

Author(s) :

Talvas, Anthony [Auteur]
3D interaction with virtual environments using body and mind [Hybrid]
Marchal, Maud [Auteur]
3D interaction with virtual environments using body and mind [Hybrid]
Duriez, Christian [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Otaduy, Miguel A. [Auteur]
Grupo de Modelado y Realidad Virtual [Madrid] [GMRV]

Journal title :

IEEE Transactions on Visualization and Computer Graphics

Pages :

9

Publisher :

Institute of Electrical and Electronics Engineers

Publication date :

2015-01-20

ISSN :

1077-2626

English keyword(s) :

Physically-based simulation
grasping
dexterous manipulation
constraint computation
virtual deformable hand

HAL domain(s) :

Informatique [cs]/Synthèse d'image et réalité virtuelle [cs.GR]
Informatique [cs]/Modélisation et simulation

English abstract : [en]

Interactive dexterous manipulation of virtual objects remains a complex challenge that requires both appropriate hand models and accurate physically-based simulation of interactions. In this paper, we propose an approach ...
Show more >Interactive dexterous manipulation of virtual objects remains a complex challenge that requires both appropriate hand models and accurate physically-based simulation of interactions. In this paper, we propose an approach based on novel aggregate constraints for simulating dexterous grasping using soft fingers. Our approach aims at improving the computation of contact mechanics when many contact points are involved, by aggregating the multiple contact constraints into a minimal set of constraints. We also introduce a method for non-uniform pressure distribution over the contact surface, to adapt the response when touching sharp edges. We use the Coulomb-Contensou friction model to efficiently simulate tangential and torsional friction. We show through different use cases that our aggregate constraint formulation is well-suited for simulating interactively dexterous manipulation of virtual objects through soft fingers, and efficiently reduces the computation time of constraint solving.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL