Virtual Whole-Hand Grasping Feedback for Object Manipulation with a Two-Finger Haptic Interface

Abstract

In many virtual reality (VR) applications, achieving natural interaction with virtual objects remains a key challenge. In this paper, we present a virtual grasping feedback method based on a whole-hand model avatar in a virtual environment using a two-finger haptic device. To provide engaging visual feedback, we propose a method of rigging a virtual whole hand model of five fingers from two input positions of the gripper, as well as a strategy for determining proxy points adapted to various shapes of the objects in contact. To provide plausible haptic feedback, we investigate virtual force acting on the user’s fingers by proposing a dynamic model that includes the main factors influencing grasping force based on the study of the actual grip. We demonstrate the effectiveness of the proposed method by conducting experiments where a user grabs three different shapes of a container to pour the liquid out of the container. Depending on the contact positions of thumb and index fingers of the user, the five-finger avatar hand poses an intuitive configuration concerning the shape of the container. The computed force feedback helps the user to successfully manipulate the container in lifting and tilting actions.