Computing optimal forces for generalised kinesthetic feedback on the human hand during virtual grasping and manipulation

This paper focuses on the problem of force-feedback for the human-operator hand when manipulating virtual objects. We propose a method for the computation of feedback-forces that have to be applied on each individual phalanx and finger of the human hand in order to display pertinent, kinesthetic information about static or dynamic characteristics of objects present in the virtual scene. External forces and moments of the manipulated virtual objects heave to be mapped on the contact-forces space of the virtual grasp. The method is based on the solution of a nonlinear programming problem, formulated by performing a static analysis of a general, multiple contact points virtual grasp. A methodology for modelling interactions within a virtual environment, and performing realistic grasping and manipulation, is also presented.