Title :
Enabling multi-finger, multi-hand virtualized grasping
Author :
Barbagli, Federico ; Salisbry, Kenneth, Jr. ; Devengenzo, Roman
Author_Institution :
Stanford Robotics Lab, CA, USA
Abstract :
This paper presents a series of kinematic and haptic analysis, which lead to the design of a particularly simple, yet useful multi-hand multi-finger haptic interface. We also discuss rendering issues, which must be addressed in utilizing it, including and extension of the proxy to more general contact.
Keywords :
grippers; haptic interfaces; kinematics; virtual reality; haptic analysis; kinematic analysis; multihand multifinger haptic interface; virtualized grasping; Computational modeling; Costs; Fingers; Force feedback; Grasping; Haptic interfaces; Humans; Imaging phantoms; Robots; Thumb;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1241693
