Realistic virtual grasping

We present a physically-based approach to grasping and manipulation of virtual objects that produces visually realistic results, addresses the problem of visual interpenetration of hand and object models, and performs force rendering for force-feedback gloves in a single framework. Our approach couples tracked hand configuration to a simulation-controlled articulated hand model using a system of linear and torsional spring-dampers. We discuss an implementation of our approach that uses a widely-available simulation tool for collision detection and response. We illustrate the resulting behavior of the virtual hand model and of grasped objects, and we show that the simulation rate is sufficient for control of current force-feedback glove designs. We also present a prototype of a system we are developing to support natural whole-hand interactions in a desktop-sized workspace.