Research on Multi-finger Grasping in Virtual Environment

Grasping is a key operation of virtual hands.A grasping method for a virtual hand is presented to improve its precision in non-haptic environments.A motion control technique for the objects being or having been grasped is introduced by establishing a structural model of a virtual hand and the expression of the grasping process employing three states and their transitions.The penetrations between fingers and an object are solved by using the finger gestures adjustment strategy combined with an improved cyclic coordinate descent inverse kinematics algorithm and a forward kinematics algorithm.The grasping rules are established to ensure a true and accurate grasp.By integrating virtual devices into CATIA V5 using the secondary development platform CAA,a grasping examples for some simple objects in a virtual prototyping environment is developed,which demonstrates the correctness and real-time efficiency of the method.