A Digital Hand to Mimic Human Hand in Real Time Operation: Making of Digital Finger with Partial Soft Skin and Rigid Bone

摘要

This paper presents a digital hand which is a type of model to mimic human hand operation in real time operation. Human hand performs various difficult tasks in daily life and shows dexterous operation to use tools or equipment, because it has numerous degree of freedom (DoFs) of finger joints and soft skin. To realize the mimic of human hand operation in real time operation to overcome the problems such as high DoFs, soft skin. We have developed the digital hand whose input to control hand posture is obtained from a hand posture sensor and soft skin is designed as mesh structure. Here, the way to define parameters of mesh structure is discussed. We demonstrate the simulation of the digital hand model and examine how the model is able to mimic the motion of human hand.