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Two-Hand Virtual Object Manipulation Based on Networked Architecture

  • Manuel Ferre
  • Ignacio Galiana
  • Jorge Barrio
  • Pablo García-Robledo
  • Antonio Giménez
  • Javier López
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6192)

Abstract

A setup for bimanual virtual object manipulation is described in this paper. Index and thumb fingers are inserted in the corresponding thimbles in order to perform virtual object manipulations. A gimble, with 3-rotational degrees of freedom, connects each thimble to the corresponding serial-parallel mechanical structure with 3 actuated DoF. As a result, each finger has 6 DoF, movements and forces can be reflected in any direction without any torque component. Scenarios for virtual manipulation are based on distributed architecture where each finger device has its own real-time controller. A computer receives the status of each finger and runs a simulation with the virtual object manipulation. The information of the Scenario is updated at a rate of 200 Hz. The information from the haptic controller is processed at 1 kHz; it provides a good realism for object manipulation.

Keywords

Haptic devices bimanual manipulation multifinger devices collaborative manipulation 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Manuel Ferre
    • 1
  • Ignacio Galiana
    • 1
  • Jorge Barrio
    • 1
  • Pablo García-Robledo
    • 1
  • Antonio Giménez
    • 2
  • Javier López
    • 2
  1. 1.Universidad Politécnica de Madrid, Centro de Automática y Robótica (UPM-CSIC)MadridSpain
  2. 2.Departamento de Ingeniería Rural, Área de Ingeniería MecánicaUniversidad de AlmeríaLa Cañada de San Urbano (Almería)Spain

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