M. Pouliquen, C. Duriez, C. Andriot, A. Bernard, L. Chodorge, F. Gosselin
{"title":"实时有限元手指捏握仿真","authors":"M. Pouliquen, C. Duriez, C. Andriot, A. Bernard, L. Chodorge, F. Gosselin","doi":"10.1109/WHC.2005.109","DOIUrl":null,"url":null,"abstract":"This paper addresses physically-based simulation of human fingers for virtual reality applications with haptic feedback. Deformation and contact models are based on finite element method. We show that with good assumptions for the finite element model and with a corotational approach, we can achieve virtual fingers to perform an interactive grasp task. We also show that thanks to the Gauss-Seidel type resolution method we can speed up the CPU time for complex multi-contact simulations with friction. We describe preliminary results in 2D for grasping rigid objects with deformable fingers in real-time.","PeriodicalId":117050,"journal":{"name":"First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference","volume":"7 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2005-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"15","resultStr":"{\"title\":\"Real-time finite element finger pinch grasp simulation\",\"authors\":\"M. Pouliquen, C. Duriez, C. Andriot, A. Bernard, L. Chodorge, F. Gosselin\",\"doi\":\"10.1109/WHC.2005.109\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper addresses physically-based simulation of human fingers for virtual reality applications with haptic feedback. Deformation and contact models are based on finite element method. We show that with good assumptions for the finite element model and with a corotational approach, we can achieve virtual fingers to perform an interactive grasp task. We also show that thanks to the Gauss-Seidel type resolution method we can speed up the CPU time for complex multi-contact simulations with friction. We describe preliminary results in 2D for grasping rigid objects with deformable fingers in real-time.\",\"PeriodicalId\":117050,\"journal\":{\"name\":\"First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference\",\"volume\":\"7 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2005-03-18\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"15\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/WHC.2005.109\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/WHC.2005.109","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Real-time finite element finger pinch grasp simulation
This paper addresses physically-based simulation of human fingers for virtual reality applications with haptic feedback. Deformation and contact models are based on finite element method. We show that with good assumptions for the finite element model and with a corotational approach, we can achieve virtual fingers to perform an interactive grasp task. We also show that thanks to the Gauss-Seidel type resolution method we can speed up the CPU time for complex multi-contact simulations with friction. We describe preliminary results in 2D for grasping rigid objects with deformable fingers in real-time.