Mulatto Sara, Formaglio Alessandro, Malvezzi Monica, Prattichizzo Domenico
IEEE Trans Haptics. 2013 Jan-Mar;6(1):106-16. doi: 10.1109/TOH.2012.13.
A technique to animate a realistic hand avatar with 20 DoFs based on the biomechanics of the human hand is presented. The animation does not use any sensor glove or advanced tracker with markers. The proposed approach is based on the knowledge of a set of kinematic constraints on the model of the hand, referred to as postural synergies, which allows to represent the hand posture using a number of variables lower than the number of joints of the hand model. This low-dimensional set of parameters is estimated from direct measurement of the motion of thumb and index finger tracked using two haptic devices. A kinematic inversion algorithm has been developed, which takes synergies into account and estimates the kinematic configuration of the whole hand, i.e., also of the fingers whose end tips are not directly tracked by the two haptic devices. The hand skin is deformable and its deformation is computed using a linear vertex blending technique. The proposed synergy-based animation of the hand avatar involves only algebraic computations and is suitable for real-time implementation as required in haptics.
提出了一种基于人手生物力学为具有20个自由度的逼真手部虚拟化身制作动画的技术。该动画不使用任何传感器手套或带有标记的先进跟踪器。所提出的方法基于对手部模型的一组运动学约束的知识，即姿势协同效应，这使得可以使用比手部模型关节数量少的变量来表示手部姿势。从使用两个触觉设备跟踪的拇指和食指的运动直接测量中估计出这组低维参数。已经开发了一种运动学反演算法，该算法考虑了协同效应并估计整个手部的运动学配置，即也包括两个触觉设备未直接跟踪其指尖的手指的运动学配置。手部皮肤是可变形的，其变形使用线性顶点混合技术进行计算。所提出的基于协同效应的手部虚拟化身动画仅涉及代数计算，并且适合于触觉所需的实时实现。
