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A Model of Hands and Arms Based on Manifold Mappings

  • Conference paper
Communicating with Virtual Worlds

Part of the book series: CGS CG International Series ((3056))

Abstract

A multibody model of hands and arms is presented. Representative points of contact are considered as the end-effectors. The configuration space and the workspace are modeled as manifolds, and the task feasibility is defined using the notions of manifold mappings and Jacobian matrices. Joint rotation limits and dependencies between the joints are considered in the configuration space. A procedure to check the task feasibility is presented. The causes which lead to the infeasible task are classified into singular configuration, boundary transgression, and disharmony. Finally, a technique of martial arts, Shorinji Kempo, is analyzed to demonstrate the usefulness of the model.

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Author information

Authors and Affiliations

  1. Department of Information Science, Faculty of Science, the University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113, Japan

    Tosiyasu L. Kunii & Yukinobu Tsuchida

  2. Shorinji Kempo Headquarters, 3-1-59, Hondori, Tadotsu-cho, Nakatado-gun, Kagawa, 764, Japan

    Yasuhiro Arai

  3. Shorinji Kempo Tokyo Office, 1-3-5. Uehara, Shibuya-ku, Tokyo, 151, Japan

    Hiroshi Matsuda, Masahiro Shirahama & Shinya Miura

Authors
  1. Tosiyasu L. Kunii
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  2. Yukinobu Tsuchida
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  3. Yasuhiro Arai
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  4. Hiroshi Matsuda
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  5. Masahiro Shirahama
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  6. Shinya Miura
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Editor information

Editors and Affiliations

  1. MIRALab, Centre Universitaire d’Informatique, University of Geneva, 24 rue du Général-Dufour, CH-1211, Geneva 4, Switzerland

    Nadia Magnenat Thalmann

  2. Computer Graphics Lab., Swiss Federal Institute of Technology, CH-1015, Lausanne, Switzerland

    Daniel Thalmann

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© 1993 Springer-Verlag Tokyo

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Kunii, T.L., Tsuchida, Y., Arai, Y., Matsuda, H., Shirahama, M., Miura, S. (1993). A Model of Hands and Arms Based on Manifold Mappings. In: Thalmann, N.M., Thalmann, D. (eds) Communicating with Virtual Worlds. CGS CG International Series. Springer, Tokyo. https://doi.org/10.1007/978-4-431-68456-5_31

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  • DOI: https://doi.org/10.1007/978-4-431-68456-5_31

  • Publisher Name: Springer, Tokyo

  • Print ISBN: 978-4-431-68458-9

  • Online ISBN: 978-4-431-68456-5

  • eBook Packages: Springer Book Archive

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