Grasping and manipulation in virtual environment using 3By6 finger device

• Published in: 9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005 pp. 131 - 134
• Main Authors: Kurillo, G., Mihelj, M., Munih, M., Bajd, T.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 2005
• Subjects: Extremities; Filling; Fingers; Force measurement; Glass; Grasping; Mathematical model; Muscles; Rehabilitation robotics; Virtual environment
• DOI: 10.1109/ICORR.2005.1501068
• ISBN: 9780780390034; 0780390032
• ISSN: 1945-7898

Realistic simulation of grasping requires accurate modeling of forces and torques on the virtual object produced by fingers in contact. We present isometric 3By6 finger device for multi-fingered grasping in virtual environment (VE). The finger device was designed to measure forces of three fingers. Mathematical model of grasping adopted from the analysis of multi-fingered robot hands was used. The dynamics of the virtual object corresponds to the forces and torques applied by the three fingers. The multi-fingered grasping is demonstrated in four tasks aimed at the rehabilitation of the upper extremities of stroke patients. The tasks include opening of a safe, filling and pouring water from a glass, training of muscle strength with an elastic torus and force-tracking task.