Grasping and manipulation in virtual environment using 3By6 finger device

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.