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In this paper, we present methods to generate a stable and realistic force rendering between virtual hand and object for a hand rehabilitation system. There are multi-contact regions between hand and object. For each contact region, the virtual contact force is modeled upon the spring-mass model. As direct rendering with spring-mass model in a large stiffness will induce instability of the haptic...
This paper investigates the simulation of a virtual index finger interacted with an object for a virtual rehabilitation system of human hand. Corresponding to the anatomy of human hand, the virtual finger is modeled as three phalanges which are connected by three joints, which is essentially a 4-Degree-of-Freedom (DOF) open chain mechanism. The special characteristic of the virtual finger poses the...
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