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| Method of generating a stable grasp force of virtual hand based on physics |
| Received:May 22, 2018 Revised:August 26, 2018 |
| View Full Text View/Add Comment Download reader |
| DOI：10.7511/jslx20180522002 |
| KeyWord:grasp force closure soft-finger model cone of friction force equilibrium |
| Author | Institution |
| 邹俞 |
中国航天员科研训练中心人因工程国家重点实验室, 北京 ;西安卫星测控中心, 西安 |
| 晁建刚 |
中国航天员科研训练中心人因工程国家重点实验室, 北京 |
| 林万洪 |
中国航天员科研训练中心人因工程国家重点实验室, 北京 |
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| Abstract: |
| Purpose:To solve the problems arising from grip force feedback in virtual training.Process:In this paper,the conditions of force closure satisfying the soft-finger model are studied,and based on the cone of friction conditions of force and the balance of internal force in the force-closure solution,(1) We solve the internal force equilibrium and the internal forces to satisfy the friction cone by the nonlinear programming equation and obtaining the standard of the most stable grasping;(2) We put forward the concept of demand pressure and supply pressure.Method:On the basis of (1) and (2),a stable static grasping model is established,and the generation of the grasping force is realized experimentally.Conclusion:The method provides theoretical support for force generation in the virtual hand interaction. |
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