Physics-based virtual-hand picking in robotic manipulation

Lai ho Kwok, Hanqiu Sun, George Baciu

Research output: Journal article publicationConference articleAcademic researchpeer-review

1 Citation (Scopus)


Although object manipulation is an important issue in VR, most applications fail to provide the natural interface of dextrous hand that interacts with the objects in a physics-based realism. This paper presents a hybrid control approach that uses both kinematics and dynamics methods at different stages of picking to generate physically-accurate hand interactions in real time. This approach can simulate the natural picking interactions in various hand applications, including 3D mechanic design, assembly, surgical simulation, and telerobotics.
Original languageEnglish
Pages (from-to)3489-3494
Number of pages6
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Publication statusPublished - 1 Dec 1998
Externally publishedYes
EventProceedings of the 1998 IEEE International Conference on Systems, Man, and Cybernetics. Part 3 (of 5) - San Diego, CA, United States
Duration: 11 Oct 199814 Oct 1998

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Hardware and Architecture


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