Thread View: sci.virtual-worlds
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Started by Russell Holt
Fri, 22 Jan 1993 18:56
TECH: Question about DHM
Author: Russell Holt
Date: Fri, 22 Jan 1993 18:56
Date: Fri, 22 Jan 1993 18:56
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I've seen pictures of the Dextrous Hand Master, but I'd like to ask anyone
whose actually used one about it. On the back of the hand sits a base to
which the devices measuring the fingers and the thumb are attached.
This, then, is somehow attached to a wrist strap. My question is,
how does this base stay pressed against the hand? How does it keep from
rocking up and down when the fingers are moved only slightly? In my
attempts to construct a glove which measures finger movements in a
mechanical fasion, I have run into this problem, and am finding it
difficult to prevent this while keeping it comfortable...
-Russell Holt
Russell Holt (rustle@sage.cc.purdue.edu)=====-===-==--=---=---- --- -- - - -
main() { int x,y,k; char *b=" .:,;!/>)|&IH%*#@";double cr,ci,zr,zi,temp,cx,cy;
for (y=30;puts(""),cy=y*0.1-1.5,y-->=0;){for(x=0;cx=x*0.04-2,zr=0,zi=0,x++<75;)
{for(cr=cx,ci=cy,k=0;temp=zr*zr-zi*zi+cr,zi=2*zr*zi+ci,zr=temp,k<112;k++)
if(zr*zr+zi*zi>10)break;printf("%c",b[k%16]);}}} /* thank you, thank you */
Re: TECH: Question about DHM
Author: Zyzzy Galore
Date: Mon, 25 Jan 1993 23:36
Date: Mon, 25 Jan 1993 23:36
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Russell Holt writes:
> I've seen pictures of the Dextrous Hand Master, but I'd like to ask anyone
>whose actually used one about it. On the back of the hand sits a base to
>which the devices measuring the fingers and the thumb are attached.
>This, then, is somehow attached to a wrist strap. My question is,
>how does this base stay pressed against the hand? How does it keep from
>rocking up and down when the fingers are moved only slightly? In my
>attempts to construct a glove which measures finger movements in a
>mechanical fasion, I have run into this problem, and am finding it
>difficult to prevent this while keeping it comfortable...
I had the privilege of trying out the dextrous master at Rutgers
Telerobotics Lab last summer. (See "Ball in Hand," Pix-Elation #4,
the VRASP newsletter.) The base to which the pneumatic micropistons
are attached is not on the back of the hand, it's in the palm. It is
affixed (in some manner, maybe glued) to a DataGlove. The three
pistons mounted on the base are then attached to the thumb and the
first two fingers. Since the natural motion of the hand (grabbing,
etc.) forces the pistons into the palm, there is not a problem with
slippage unless the DataGlove does not fit tightly. This can happen.
It results in the virutal hand being "sticky" -- you can't let go of a
virtual object even if your hand is flexed open. However, it was
clear that the problem is one of glove size and not glove design.
If you want to see the whole article, email me.
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Zyzzy Galore > > > > > > > > > > > zyzzy@u.washington.edu
ART NON PROG RESS / V R A S P
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