CHICAP

Abstract

In the research, we propose a cost-effective 3-finger exoskeleton hand motion-capturing device and a physics engine-based hand interaction module for immersive experience in manipulation of virtual objects. The developed device provides 12 DOFs data of finger motion by a unique bevel-gear structure as well as the use of six 3D magnetic sensors. It shows a small error in relative distance between two fingertips less than 2 mm and allows the user to reproduce precise hand motion while processing the complex joint data in real-time. We synchronize hand motion with a physics engine-based interaction framework that includes a grasp interpreter and multi-modal feedback operation in virtual reality to minimize penetration of a hand into an object. The system enables feasibility of object manipulation as far as the needs go in various tasks in virtual environment.