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浙江理工大学虚拟现实实验室简介
杨文珍
    杨文珍,男,博士,教授,机械设计及理论专业硕导,控制工程专业硕导,计算机应用技术专业硕导。浙江大学机械设计及理论专业硕士,浙江大学CAD&CG国家重点实验室计算机科学与技术专业博士,浙江大学控制科学与工程流动站博士后出站,美国乔治梅森大学访问学者。
长期致力于人机交互、机器人和虚拟现实领域的研究,在盲文点显器、计算机触觉、计算机嗅觉、灵巧机械手、运动健康等方面,形成了研究特色。
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2017 论文SCI Intersection workspace visualization of multi-finger hands
时间:2017-09-04 21:56:53    浏览次数:971        

Intersection workspace visualization of multi-finger hands

https://link.springer.com/article/10.1007/s00371-017-1421-6

Abstract:

The intersection workspace of multi-finger hands means the overlapping workspace in 3D Euclidean space where several fingertips can reach together, and is very valuable for grasp space planning, motion control and mechanical design for multi-finger hands. But, the intersection workspaces usually have sophisticated forms, which are really hard for robotic experts to image them. We present a general approach to visualize and analyze the intersection workspace of multi-finger hands. We firstly deduce the displacement equation of the fingertip, then generate 3D workspace of the fingertip and lastly obtain the intersection workspace of the multi-finger hands. This approach can visualize intersection workspaces with integrated forms and contours, and analyze the volume of the intersection workspaces. The vivid form and volume analysis of intersection workspaces are useful for robotic experts to accurately and intuitionally understand the fingertip motion ranges, plan the motion routes of fingers and avoid the motion collision among fingers.

Keywords

Intersection workspace Workspace volume analysis Multi-finger hand Visualization 

Cite this article as:
Yang W, Luo X, Wu X, et al. Intersection workspace visualization of multi-finger hands[J]. Visual Computer, 2017:1-11.

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