Skip to main content

Multi-finger Grasps in a Dynamic Environment

  • Chapter

Part of the Springer Series on Touch and Haptic Systems book series (SSTHS)

Abstract

Most current state-of-the-art haptic devices render only a single force, however almost all human grasps are characterised by multiple forces and torques applied by the fingers and palms of the hand to the object. In this chapter we will begin by considering the different types of grasp and then consider the physics of rigid objects that will be needed for correct haptic rendering. We then describe an algorithm to represent the forces associated with grasp in a natural manner. The power of the algorithm is that it considers only the capabilities of the haptic device and requires no model of the hand, thus applies to most practical grasp types. The technique is sufficiently general that it would also apply to multi-hand interactions, and hence to collaborative interactions where several people interact with the same rigid object. Key concepts in friction and rigid body dynamics are discussed and applied to the problem of rendering multiple forces to allow the person to choose their grasp on a virtual object and perceive the resulting movement via the forces in a natural way. The algorithm also generalises well to support computation of multi-body physics

Keywords

  • Grip Force
  • Collision Detection
  • Virtual Object
  • Haptic Device
  • Haptic Interface

These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

This is a preview of subscription content, access via your institution.

Buying options

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   84.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   109.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD   109.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

Notes

  1. 1.

    Sensable.com, USA.

  2. 2.

    Novint, USA.

  3. 3.

    Moog FCS, The Netherlands.

  4. 4.

    ForceDimension, Switzerland.

References

  1. Anitescu, M., & Potra, F. A. (1997). Formulating dynamic multi-rigid-body contact problems with friction as solvable linear complementarity problems. Nonlinear Dynamics, 14(3), 231–247.

    CrossRef  MathSciNet  MATH  Google Scholar 

  2. Åström, K. J., & de Wit, C. C. (2008). Revisiting the LuGre friction model: stick-slip motion and rate dependence IEEE Control Systems Magazine, 28(6), 101–114.

    CrossRef  MathSciNet  Google Scholar 

  3. Baraff, D. (1994). Fast contact force computation for nonpenetrating rigid bodies. In Proceedings of the 21st annual conference on computer graphics and interactive techniques (pp. 23–34). New York: ACM.

    Google Scholar 

  4. Barbagli, F., Salisbury, K. Jr, & Devengenzo, R. (2003). Enabling multi-finger, multi-hand virtualized grasping. In Proceedings of the 2003 IEEE international conference on robotics and automation, ICRA’03 (Vol. 1, pp. 809–815). New York: IEEE Press.

    CrossRef  Google Scholar 

  5. Barrow, A., & Harwin, W. (2008). High bandwidth, large workspace haptic interaction: flying phantoms. In Haptic interfaces for virtual environments and teleoperator systems.

    Google Scholar 

  6. Brooks, F. P. Jr. (1999). What’s real about virtual reality? IEEE Computer Graphics and Applications, 19(6), 16–27.

    CrossRef  MathSciNet  Google Scholar 

  7. Brooks, F. P. Jr., Ouh-Young, M., Batter, J. J., & Kilpatrick, P. J. (1990). Project GROPEHaptic displays for scientific visualization. In ACM SIGGraph computer graphics (Vol. 24, pp. 177–185). New York: ACM.

    Google Scholar 

  8. Bullock, I. M., & Dollar, A. M. (2011). Classifying human manipulation behavior. In IEEE international conference on rehabilitation robotics (ICORR 2011) (pp. 532–537). New York: IEEE Press.

    Google Scholar 

  9. Canudas de Wit, C., Olsson, H., Astrom, K. J., & Lischinsky, P. (1995). A new model for control of systems with friction. IEEE Transactions on Automatic Control, 40(3), 419–425.

    CrossRef  MATH  Google Scholar 

  10. Colgate, J. E., & Schenkel, G. G. (1994). Passivity of a class of sampled-data systems: application to haptic interfaces. In American control conference (pp. 3236–3240).

    Google Scholar 

  11. Coumans, E., et al. (2006). Bullet physics library. Open source: bulletphysics.org.

  12. Cox, M. J., Quinn, B. F., Newton, J. T., Banerjee, A., & Woolford, M. (2012). Researching haptics in higher education: the complexity of developing haptics virtual learning systems and evaluating its impact on students’ learning. Computers & Education, 59(1), 156–166. doi:10.1016/j.compedu.2011.11.009.

    CrossRef  Google Scholar 

  13. Craig, J. J. (1989). Introduction to robotics: mechanics and control. Reading: Addison–Wesley. ISBN 0-201-09528-9. UR call 629.892-CRA.

    MATH  Google Scholar 

  14. Cutkosky, M. R. (1989). On grasp choice, grasp models, and the design of hands for manufacturing tasks. IEEE Transactions on Robotics and Automation, 5(3), 269–279.

    CrossRef  MathSciNet  Google Scholar 

  15. Endo, T., Kawasaki, H., Mouri, T., Ishigure, Y., Shimomura, H., Matsumura, M., & Koketsu, K. (2011). Five-fingered haptic interface robot: HIRO III. IEEE Transactions on Haptics, 4(1), 14–27.

    CrossRef  Google Scholar 

  16. Flanagan, J. R., & Wing, A. M. (1990). The stability of precision grip forces during cyclic arm movements with a hand-held load. Experimental Brain Research, 105(3), 455–464.

    CrossRef  Google Scholar 

  17. Flanagan, J. R., & Wing, A. M. (1997). The role of internal models in motion planning and control: evidence from grip force adjustments during movements of hand-held loads. The Journal of Neuroscience, 17(4), 1519.

    Google Scholar 

  18. Gauldie, D., Wright, M., & Shillito, A. M. (2004). 3D modelling is not for WIMPS part ii: stylus/mouse clicks. In Proceedings of eurohaptics (pp. 182–189).

    Google Scholar 

  19. Haessig, D. A. Jr, & Friedland, B. (1991). On the modeling and simulation of friction. Journal of Dynamic Systems, Measurement, and Control, 113(3), 354–362.

    CrossRef  Google Scholar 

  20. Haggard, P., & Wing, A. (1995). Coordinated responses following mechanical perturbation of the arm during prehension. Experimental Brain Research, 102, 483–494.

    CrossRef  Google Scholar 

  21. Hyun, J.-W., Kumazawa, I., & Sato, M. (2007). A new measurement methodology of multi-finger tracking for handheld device control using mixed reality. In Annual conference, SICE 2007 (pp. 2315–2320). New York: IEEE Press. doi:10.1109/SICE.2007.4421375.

    CrossRef  Google Scholar 

  22. Jiménez, P., Thomas, F., & Torras, C. (2001). 3d collision detection: a survey. Computers & Graphics, 25(2), 269–285.

    CrossRef  Google Scholar 

  23. Johansson, R. S., & Westling, G. (1984). Roles of glabrous skin receptors and sensorimotor memory in automatic control of precision grip when lifting rougher or more slippery objects. Experimental Brain Research, 56(3), 550–564.

    CrossRef  Google Scholar 

  24. Johnson, D. E., & Willemsen, P. (2003). Six degree-of-freedom haptic rendering of complex polygonal models. In Proceedings of the 11th symposium on haptic interfaces for virtual environment and teleoperator systems, HAPTICS 2003 (pp. 229–235). New York: IEEE Press.

    CrossRef  Google Scholar 

  25. Körding, K. P., & Wolpert, D. M. (2004). Bayesian integration in sensorimotor learning. Nature, 427, 244–247.

    CrossRef  Google Scholar 

  26. Light, C. M., Chappell, P. H., & Kyberd, P. J. (2002). Establishing a standardized clinical assessment tool of pathologic and prosthetic hand function: normative data, reliability, and validity. Archives of Physical Medicine and Rehabilitation, 83, 776–783.

    CrossRef  Google Scholar 

  27. Loureiro, R. C. V., & Harwin, W. S. (2007). Reach and grasp therapy: design and control of a 9-dof robotic neuro-rehabilitation system. In Proceedings of the 2007 IEEE 10th international conference on rehabilitation robotics, 12–15 June 2007 (pp. 757–763).

    CrossRef  Google Scholar 

  28. Loureiro, R. C. V., Lamperd, B., Collin, C., & Harwin, W. S. (2009). Reach and grasp therapy: effects of the gentle/g system assessing sub-acute stroke whole-arm rehabilitation. In IEEE international conference on rehabilitation robotics (pp. 755–760).

    CrossRef  Google Scholar 

  29. McKnight, S., Melder, N., Barrow, A. L., Harwin, W. S., & Wann, J. P. (2005). Perceptual cues for orientation in a two finger haptic grasp task. In First joint eurohaptics conference and symposium on haptic interfaces for virtual environment and teleoperator systems, 18–20 March (pp. 549–550). New York: IEEE Press.

    CrossRef  Google Scholar 

  30. Melder, N. (2011). Multi-finger manipulation physics for haptic rendering. PhD thesis, University of Reading. Call number, THESIS-R10821.

    Google Scholar 

  31. Melder, N., & Harwin, W. (2002). Improved rendering for multi-finger manipulation using friction cone based god-objects. In S. Wall, M. Wright, & A. M. Shillito (Eds.), Proceedings of eurohaptics conference (pp. 82–85). Edinburgh College of Art and University of Edinburgh.

    Google Scholar 

  32. Melder, N., & Harwin, W. S. (2004). Extending the friction cone algorithm for arbitrary polygon based haptic objects. In Haptic interfaces for virtual environment and teleoperator systems (pp. 234–241). New York: IEEE Press.

    Google Scholar 

  33. Melder, N., & Harwin, W. S. (2005). Force shading and bump mapping using the friction cone algorithm. In First joint eurohaptics conference and symposium on haptic interfaces for virtual environment and teleoperator systems (pp. 573–575). New York: IEEE Press.

    CrossRef  Google Scholar 

  34. Melder, N., Harwin, W., & Sharkey, P. (2003). Translation and rotation of multi-point contacted virtual objects. In Proceedings of eurohaptics conference (pp. 218–227). Trinity College Dublin and Media Lab Europe.

    Google Scholar 

  35. Pawar, V. M. (2013). Exploring the influence of haptic force feedback on 3D selection strategies. PhD thesis, University College London.

    Google Scholar 

  36. Rock, I., & Harris, C. S. (1967). Vision and touch. Scientific American, 216(5), 96–104. doi:10.1038/scientificamerican0567-96.

    CrossRef  Google Scholar 

  37. Rock, I., & Victor, J. (1964). Vision and touch: an experimentally created conflict between the two senses. Science, 143(3606), 594–596.

    CrossRef  Google Scholar 

  38. Ruspini, D. C., Kolarov, K., & Khatib, O. (1997). The haptic display of complex graphical environments. In Proceedings of the 24th annual conference on computer graphics and interactive techniques (pp. 345–352). New York/Reading: ACM/Addison–Wesley

    Google Scholar 

  39. Scali, S., Wright, M., & Shillito, A. M. (2003). 3D modelling is not for WIMPs. In Proceedings of HCI international.

    Google Scholar 

  40. Schneck, C. M., & Henderson, A. (1990). Descriptive analysis of the developmental progression of grip position for pencil and crayon control in nondysfunctional children. The American Journal of Occupational Therapy, 44(10), 893–900.

    CrossRef  Google Scholar 

  41. Sheridan, T. (1992). Telerobotics, automation and human supervisory control. Cambridge: MIT Press. (Background) UR call 620.46-SHE.

    Google Scholar 

  42. Steinfeld, E. (1986). Hands-on architecture. http://www.access-board.gov/research/handsonarch/html/recommendations%20for%20standards.htm. December 1986. Adaptive Environments Laboratory, Department of Architecture, SUNY/Buffalo.

  43. Stewart, D., & Trinkle, J. C. (2000). An implicit time-stepping scheme for rigid body dynamics with coulomb friction. In Proceedings of the IEEE international conference on robotics and automation, ICRA’00 (Vol. 1, pp. 162–169). New York: IEEE Press.

    Google Scholar 

  44. Tse, B., Harwin, W., Barrow, A., Quinn, B., San Diego, J., & Cox, M. (2010). Design and development of a haptic dental training system—haptel. In Lecture notes in computer science (Vol. 6192, Part II, pp. 101–108).

    Google Scholar 

  45. Turner, A. (Ed.) (1981). The practice of occupational therapy: an introduction to the treatment pf physical dysfunction. London: Churchill Livingstone.

    Google Scholar 

  46. van den Bergen, G. (1999). A fast and robust gjk implementation for collision detection of convex objects. Journal of Graphics Tools, 4(2), 7–25.

    CrossRef  MathSciNet  Google Scholar 

  47. van den Bergen, G. (2001). Proximity queries and penetration depth computation on 3d game objects. In Game developers conference.

    Google Scholar 

  48. Wall, S., & Harwin, W. (2001). Design of a multiple contact point haptic interface. In Proceedings of eurohaptics conference (pp. 146–148).

    Google Scholar 

  49. Wing, A. M., & Flanagan, J. R. (1998). Anticipating dynamic loads in handling objects. In Proceedings of the ASME dynamic systems and control division (Vol. 64, pp. 139–143). New York: ASME.

    Google Scholar 

  50. Wood, J., Magennis, M., Arias, E. F. C., Gutierrez, T., Graupp, H., & Bergamasco, M. (2003). The design and evaluation of a computer game for the blind in the GRAB haptic audio virtual environment. In Proceedings of eurohaptics.

    Google Scholar 

  51. Zilles, C., & Salisbury, K. (1995). A constraint-based god-object method for haptic display. In IROS, international conference on intelligent robots and systems.

    Google Scholar 

Download references

Acknowledgements

Many individuals have contributed to this work, including technical and academic staff, as well as members of the tHRIL laboratory. The authors are pleased to acknowledge in particular the contributions made by Dr Nic Melder and Mr Sebastian McKnight.

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to William Harwin .

Editor information

Editors and Affiliations

Rights and permissions

Reprints and Permissions

Copyright information

© 2013 Springer-Verlag London

About this chapter

Cite this chapter

Harwin, W., Barrow, A. (2013). Multi-finger Grasps in a Dynamic Environment. In: Galiana, I., Ferre, M. (eds) Multi-finger Haptic Interaction. Springer Series on Touch and Haptic Systems. Springer, London. https://doi.org/10.1007/978-1-4471-5204-0_2

Download citation

  • DOI: https://doi.org/10.1007/978-1-4471-5204-0_2

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-4471-5203-3

  • Online ISBN: 978-1-4471-5204-0

  • eBook Packages: Computer ScienceComputer Science (R0)