| Budget Amount *help |
¥12,220,000 (Direct Cost: ¥9,400,000、Indirect Cost: ¥2,820,000)
Fiscal Year 2015: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
Fiscal Year 2014: ¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2013: ¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000)
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| Outline of Final Research Achievements |
An approach to implementation of deformable hand model was proposed. Soft tissue of hand between skin and skeletons were modeled by a finite element model. Skeletal structure of the hand was represented by a link model, and the motion of finger bones by the rotation of joints was computed using the link model. The deformation of the soft tissue was simulated based on the boundary conditions given by the bones and virtual objects. The virtual object was defined using a Metaball model, or an equipotential surface of the field. Also, a method of computing contact and slip of hand on the surface of the object model using the gradient of potential filed inside and outside of the equipotential surface. A method of capturing hand motion based on the measurement of finger nails and a palm was developed. Real time simulation of object manipulation was realized by combining the hand and object models. Evaluation of reality in the object manipulation based on a questionnaire was performed.
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