Physics-based virtual-hand picking in robotic manipulation

Although object manipulation is an important issue in VR, most applications fail to provide the natural interface of a dextrous hand that interacts with the objects in a physics-based realism. The 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 mechanical design, assembly, surgical simulation, and telerobotics