Two-Hand Virtual Object Manipulation Based on Networked Architecture

Ferre Pérez, Manuel and Galiana Bujanda, Ignacio and Barrio Gragera, Jorge and Garcia Robledo, Pablo and Gimenez, Antonio and Lopez, Javier (2010). Two-Hand Virtual Object Manipulation Based on Networked Architecture. In: "International Conference, EuroHaptics 2010", 08/07/2010 - 10/07/2010, Amsterdam, Paises Bajos. ISBN 978-3-642-14074-7.

Description

Title: Two-Hand Virtual Object Manipulation Based on Networked Architecture
Author/s:
  • Ferre Pérez, Manuel
  • Galiana Bujanda, Ignacio
  • Barrio Gragera, Jorge
  • Garcia Robledo, Pablo
  • Gimenez, Antonio
  • Lopez, Javier
Item Type: Presentation at Congress or Conference (Article)
Event Title: International Conference, EuroHaptics 2010
Event Dates: 08/07/2010 - 10/07/2010
Event Location: Amsterdam, Paises Bajos
Title of Book: Haptics: Generating and Perceiving Tangible Sensations. Proceedings of the International Conference, EuroHaptics 2010
Date: 2010
ISBN: 978-3-642-14074-7
Volume: 6192
Subjects:
Freetext Keywords: Haptic devices - bimanual manipulation - multifinger devices - collaborative manipulation
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

A setup for bimanual virtual object manipulation is described in this paper. Index and thumb fingers are inserted in the corresponding thimbles in order to perform virtual object manipulations. A gimble, with 3-rotational degrees of freedom, connects each thimble to the corresponding serial-parallel mechanical structure with 3 actuated DoF. As a result, each finger has 6 DoF, movements and forces can be reflected in any direction without any torque component. Scenarios for virtual manipulation are based on distributed architecture where each finger device has its own real-time controller. A computer receives the status of each finger and runs a simulation with the virtual object manipulation. The information of the Scenario is updated at a rate of 200 Hz. The information from the haptic controller is processed at 1 kHz; it provides a good realism for object manipulation.

More information

Item ID: 7956
DC Identifier: http://oa.upm.es/7956/
OAI Identifier: oai:oa.upm.es:7956
Official URL: http://www.springerlink.com/content/a75162153260p1vl/
Deposited by: Memoria Investigacion
Deposited on: 14 Jul 2011 07:47
Last Modified: 22 Feb 2017 18:07
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