since 1995 spring (on other site), last up date Oct. 1998.

My (Kenji FUNAHASHI's) Study(!?) on Nagoya Univ.


Theme

appearance of manipulation system CG image of manipulation system

Virtual System and MaltiMedia(VSMM) '95 in Gifu ('95.9, GIFU)
Block Manipulation with Hand in Virtual Space
This paper describes an interactive manipulation system with a computer generated hand in a virtual work space. We can grasp, move and throw virtual objects in the similar way as real ones. In order to represent the behavior of virtual objects with reality, it is necessary to introduce a precise physical model. However, the more precisely a physical model is made, the more computation time is required to generate CG images according to motion of the hand. Therefore, we developed a new geometric model for block manipulation with a hand in virtual space. In this model, three basic hand actions are concerned such as grasping, moving and releasing. Since simplified gravity and inertia are introduced in the model, the blocks are naturally moved with interactive rate. This model has also a simplified interference check function among objects.

Computational Engineering and Sience (JSCES) ('96.5, TOKYO)
The Model for Manipulation with Hand and Behavior of Virtual Object in Virtual Space
This paper describes an interaction model for objects manipulation with a computer generated hand in a virtual work space. If we can grasp, move and release virtual objects with hand in the similar way as real ones, we are able to have many experiences in various virtual worlds. However, the more precisely a physical model is made, the more computation time is required to generate CG images corresponding to the motion of the hand. Therefore, we developed a new model for objects manipulation with a virtual hand. Since gravity and inertia are introduced in a simplified way in the model, the objects are naturally moved with interactive rate in a picture generated by graphics workstation.

Maltimedia and Virtual Environments (MVE, IEICE Tech. Rep.) ('97.3 TOKYO)
A Study of Object Manipulation with Both Hands in Virtual Spaces
This paper describes a model and a system for handling virtual objects with both virtual hands. We have studied an interaction model for one hand and one rigid object in virtual space. In this paper, we extend this single hand model to a new one with both-hands-cooperation. This model is reduced to a model for one hand manipulation by introducing a basis hand, when two hands touch one same object. Basis hand is defined by a set of weighted average values of locations and movements of both hands with consideration of the nunber of touched points for an object. Using the system with the extended model, one can manipulate an object with both hands and can handle two objects with each hand.

Pattern Sensing(?) (SICE Tech. Rep.) ('97.4 NAGOYA)
A study of a model for cooperative manipulation of virtual objects and virtual tools by both hands
This paper describes a model for handling virtual objects with both virtual hands and a data-structure for manipulating virtual tools with a hand. We have studied an interaction model for one hand and one rigid object in virtual space. In this paper, we extend this single hand model to a new one with both-hands-cooperation. This model is reduced to a model for one hand manipulation by introducing a basis hand. We propose a data structure of a virtual tool for manipulation with a hand. This keeps the information on the shape of parts of the tool and knowledge for manipulating objects with a hand. Using the system with the extended model and the data structure for tool, one can handle an object with both hands, and can manipulate a tool with a hand.

VRSJ Second Annual Conference ('97.9 NAGOYA)
Knowledge Database for Manipulation of Tools with a Virtual Hand in Virtual Space
This paper describes a knowledge database for manipulating virtual tools with a virtual hand. We propose a data structure of a virtual tool for manipulation with a hand. The data have the knowledge, such as the shape of parts of the tool, a model for manipulation of the tool with a hand, and a model for manipulation of objects by the tool. By using the knowledge database, we developed a system manipulating virtual tools with a virtual hand.

Graphics and CAD (G&CAD, IPSJ Tech. Rep.) ('98.4 TOKYO)
Knowledge and Model for Manipulation Using Virtual Tools with a Virtual Hand
This paper describes a generalized knowledge structure for virtual tools used in virtual world with a hand. The proposed model contains the knowledge, such as the shape of the tool, how to use the tool with a hand, and how to manipulate objects by the tool. Introducing this kind of knowledge structure, we can separate the models for virtual tools from virtual manipulation system itself, so that any type of tools is introduced in a very simple manner.

IEICE paper, Vol.J81-D-II, No.5, pp.822-831 ('98.5)
A Model for Manipulation of Objects with Virtual Hand in 3-D Virtual Space
This paper describes a virtual objects manipulation system with a virtual hand. It is necessary that we can grasp, move and release virtual objects with hand in the similar way as real ones in order to have many experiences in various virtual worlds. Therefore, we developed a new model for objects manipulation with a virtual hand. Basic hand actions such as grasping, moving and releasing are implemented and gravity and inertia are introduced in a simplified way in the proposed model. The objects are naturally moved with interactive rate in a picture generated by graphics workstation.

IPSJ paper, Vol.39, No.5, pp.1334-1342 ('98.5)
A Model for Cooperative Manipulation of Virtual Objects with Both Hands
This paper describes a model for cooperative handling virtual objects with both virtual hands. We have been studying an interaction model for one hand to manipulate one rigid object in virtual space. In this paper, we extend this model to a new one for both-hands-cooperation. This model can be reduced to a model for one hand manipulation by introducing a "integrated hand", when two hands touch the same object. The integrated hand is defined by a set of weighted average values of locations and movements of both hands by considering the number of touched points to an object. Using the system of the extended model, one an operator manipulate an object with both hands and also handle two objects with each hand.

VRSJ paper, Vol.3, No.3, pp.167-176 (1998.9).
Knowledge and Model for Manipulation Using Tools with a Virtual Hand in Virtual Space
This paper describes a generalized data structure for virtual tools used in virtual world with a hand. The proposed model contains the knowledge, such as the shape of the tool, how to use the tool with a hand, and how to manipulate objects by the tool. Introducing this kind of data structure, we can separate the models for virtual tools from virtual manipulation system itself, so that any type of tools is introduced in a very simple manner.


my thesis for a doctorate (Japanese) ('98.3 Nagoya Univ.)

Japanese Keywords (for Robots :-P) : 仮想現実感, 人工現実感, 複合現実感, 仮想空間, 仮想空間操作, 仮想操作, 仮想手, 仮想物体, 仮想道具, ジェスチャ, 把持判定, 幾何学モデル, 幾何モデル, 両手操作, 協調操作, 協同操作, 協調作業, 協同作業, 基準の手, 基準手, 重み付け, 加重平均, 道具データ構造, 道具の知識, 知識ベース, 道具操作モデル, 道具操作支援, 仮想道具エディタ
I'm sorry, if you don't read Japanese fonts.