Grasping 3D Objects With Virtual Hand in VR Environment

Abstract

Virtual hands are typically hidden after grasping an object in Virtual Reality (VR) environments in existing virtual hand grasping works, which significantly impact user experience. In this paper, we build a real-time, flexible, robust and natural virtual hand grasping system, in which the virtual hand is an avatar of the user’s real hand, and a user can control the virtual hand to grasp different rigid objects naturally and realistically in the VR environment by grasping the controller handle. Our method involves three modules: Grasping Detection module for detecting whether there is a graspable object, Hand-Object Connection module for attaching the graspable object to the virtual hand, and Finger Bending module for controlling fingers to bend to grasp objects. We conduct experiments on using virtual hand to grasp rigid objects and manipulate physical tools, and show that the virtual hand can fit the object very well. Also, we compare our method with the above hand hidden technique using two created VR scenarios, which demonstrates the superiority of our method.