Object Manipulation by Deformable Hand | SpringerLink
Skip to main content
Springer Nature Link
Log in

Object Manipulation by Deformable Hand

  • Chapter
  • First Online:
Haptic Interaction

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 277))

  • 1910 Accesses

Abstract

This study investigated the implementation of a deformable elastic hand model. We used the finite element method (FEM) and the penalty method for physics-based computations of forces and deformations on the contact area. To accelerate the computation, we developed an efficient method that utilizes the link structure of the hand. Using this model, users can perform object manipulation and get visual feedback from the deformations in the skin.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Subscribe and save

Springer+ Basic
¥17,985 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
JPY 3498
Price includes VAT (Japan)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
JPY 11439
Price includes VAT (Japan)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
JPY 14299
Price includes VAT (Japan)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
JPY 14299
Price includes VAT (Japan)
  • 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

Institutional subscriptions

Similar content being viewed by others

References

  1. Borst, C.W., Indugula, A.P.: Realistic virtual grasping. In: Virtual Reality, 2005. Proceeding. VR 2005. IEEE, pp. 91–98 (2005)

    Google Scholar 

  2. Perez, A.G., Cirio, G., Hernandez, F., Garre, C., Otaduy, M.A.: Strain limiting for soft finger contact simulation. In: World Haptics Conference (WHC), 2013, pp. 79–84 (2013)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Graduate School of Information Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, 182-8585, Tokyo, Japan

    Koichi Hirota

  2. Graduate School of Interdisciplinary Information Studies, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan

    Yusuke Ujitoko

  3. Department of Mechanical Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan

    Kazuya Kiriyama

  4. Ritsumeikan Global Innovation Research Organization, Ritsumeikan University, 1-1-1 Nojihigashi, Kusatsushi, Shiga, Japan

    Kazuyoshi Tagawa

Authors
  1. Koichi Hirota
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Yusuke Ujitoko
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Kazuya Kiriyama
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Kazuyoshi Tagawa
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Koichi Hirota .

Editor information

Editors and Affiliations

  1. The University of Electro-Communications, Tokyo, Japan

    Hiroyuki Kajimoto

  2. Osaka University, Osaka, Japan

    Hideyuki Ando

  3. Electronics and Telecommunications Research Institute, Seoul, Korea, Republic of (South Korea)

    Ki-Uk Kyung

Rights and permissions

Reprints and permissions

Copyright information

© 2015 Springer Japan

About this chapter

Cite this chapter

Hirota, K., Ujitoko, Y., Kiriyama, K., Tagawa, K. (2015). Object Manipulation by Deformable Hand. In: Kajimoto, H., Ando, H., Kyung, KU. (eds) Haptic Interaction. Lecture Notes in Electrical Engineering, vol 277. Springer, Tokyo. https://doi.org/10.1007/978-4-431-55690-9_27

Download citation

  • DOI: https://doi.org/10.1007/978-4-431-55690-9_27

  • Published:

  • Publisher Name: Springer, Tokyo

  • Print ISBN: 978-4-431-55689-3

  • Online ISBN: 978-4-431-55690-9

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation