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A Soft Hand Model for Physically-based Manipulation of Virtual Objects

A Soft Hand Model for Physically-based Manipulation of Virtual Objects. Jan Jacobs Group Research Virtual Technologies Volkswagen AG. Bernd Froehlich Virtual Reality Systems Group Bauhaus-Universitat Weimar. In Virtual Reality Conference (VR), 19 - 23 March, 2011 Singapore, IEEE, 2011.

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A Soft Hand Model for Physically-based Manipulation of Virtual Objects

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  1. A Soft Hand Model for Physically-based Manipulation of Virtual Objects Jan Jacobs Group Research Virtual Technologies Volkswagen AG Bernd Froehlich Virtual Reality Systems Group Bauhaus-Universitat Weimar In Virtual Reality Conference (VR), 19 - 23 March, 2011 Singapore, IEEE, 2011.

  2. Outline • Background • Introduction • Related Work • System Design • Results and Discussion • Conclusions • Future Work

  3. Background • What is VR? • Virtual Reality • Applications of VR • Video Games • Training Systems • Simulator • 3D/4D Movies, Games • Auto Design

  4. Background • The integration of physical behavior has significantly increased the quality of games and virtual environments overall • The interaction with simulated objects also needs to occur on a physical basis. • The representation of a user in the virtual world needs to be physically modeled to achieve a realistic interaction between user and virtual objects. • The problem: the modeling of the finely articulated human hand to enable finger-based interaction.

  5. Introduction • A direct and robust finger-based manipulation relies on three major issues • Stable grasping of objects • Robust manipulation • Controlled releasing of objects. • In general, there are two common ways to achieve these goals • Grasping through heuristics • Collision based physical simulations.

  6. Introduction • In 2005, Borst et al. [1] relies on a hand model constructed from rigid bodies. • Problems: • It could not correctly consider friction between fingers and virtual • It required careful tuning of parameters for a reasonably stable interaction.

  7. Introduction • Real World Grasping Increasing contact area with increasing contact force. Left: loose touch. Right: strong pressure between finger and a pane of glass.

  8. Introduction • Physics problem • f = μN • μ is the friction coefficient • N is the pressure • The friction doesn’t related to the contact area • VR Simulation • No haptic system • Mapping: the higher the pressure, the bigger the contact area

  9. Introduction • A soft body model for each finger phalanx was introduced to enable pressure-based deformation of the soft finger contact areas. • The system allows for very precise and robust finger-based grasping, manipulation and releasing of virtual objects in real-time.

  10. Related Work • This idea is originally from Duriez et al. in 2008 [2]. They addressed this problem by directly calculating friction at skin level. • Complexity • The FastLSM algorithm by Rivers et al. [3].

  11. System Design • Software Architecture • Tracking • Hand Model

  12. System Design • Software Architecture • Scenegraph System: OpenSG • Physics Engine: bullet • User Input

  13. System Design • Tracking • An optical finger tracking system • Seven evenly spread cameras for a 3m3 volume

  14. System Design • Hand Model • A rigid body (grey) • A soft body (green)

  15. Results and Discussion • Unconstrained interaction with a horse model. The fingerpads adapt to the geometries’ shape, enabling stable and robust interaction.

  16. Results and Discussion • Two handed interaction with non-constrained objects. Collision response between torus and stick is enabled through physics simulation.

  17. Results and Discussion • Interaction within an immersive display system. A user interacts with a constrained steering wheel using both hands, thus reproducing a real-world interaction.

  18. Conclusions • A new hand model is based on soft bodies coupled to a rigid body hand skeleton • Precise and robust finger-based grasping, manipulation and releasing • Dynamic adaptation of the stiffness values • The implicit friction model • The pressure-based increasing and decreasing of the contact area of the simulated finger phalanxes

  19. Future Work • A soft body for palm • Using different deformation algorithm depending on the situation • A skinned hand representation

  20. References • [1] C. W. Borst and A. P. Indugula. Realistic virtual grasping. In Virtual Reality Conference (VR), 2005 IEEE, pages 91–98, 320, 2005. • [2] C. Duriez, H. Courtecuisse, J. P. de la Plata Alcalde, and P.-J. Bensoussan. Contact skinning. In Eurographics 2008 (short paper), pages 313–320, New York, NY, USA, 2008. • [3] A. R. Rivers and D. L. James. FastLSM: Fast lattice shape matchingfor robust real-time deformation. ACM Transactions on Graphics (Proc. SIGGRAPH 2007), 26(3):82, July 2007.

  21. Thank you! • Questions?

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