A Structure and Soft Finger Model of Digital Hand for Real-Time Dexterous Manipulation

Hiroshi Hashimoto, Akinori Sasaki, Sho Yokota, Kaoru Mitsuhashi, and Yasuhiro Ohyama


digital hand, dexterous manipulation, real time, collision space


This paper describes a structure and soft finger model of digital hand for real-time dexterous manipulation. From investigations of human dexterous manipulation by using high speed camera, the structure and skin conditions of digital hand are defined. To evaluate our model, bar spinning as dexterous manipulation is adopted. Comparing manipulations with human hand and digital hand, we discuss its effectiveness and problems of our model.

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