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Grasping and manipulation in virtual environment using 3By6 finger device

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4 Author(s)
Kurillo, G. ; Fac. of Electr. Eng., Ljubljana Univ., Slovenia ; Mihelj, Matjaz ; Munih, M. ; Bajd, Tadej

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.

Published in:

Rehabilitation Robotics, 2005. ICORR 2005. 9th International Conference on

Date of Conference:

28 June-1 July 2005