一种基于LeapMotion的灵巧虚拟手抓取交互方法

利用物体抓取任务中所有五个手指运动的运动学分析结果，结合LeapMotion 运动跟踪设备的特点和 逆运动学，提出了一种简单而有效的灵巧虚拟手抓取交互方法，使用户在虚拟环境中，通过一只灵巧的虚拟手 作为化身，在不进行手指弯曲运动跟踪的情况下，即可自然地到达并抓取数字三维物体。验证结果表明，所提 出的方法比传统的基于正向运动学的虚拟抓取方法具有一定的优势。

A Virtual Grasping Method of Dexterous Virtual Hand Based on LeapMotion

The kinematics analysis results of all five fingers in the object grasping task are used, combined with the characteristics of LeapMotion and inverse kinematics, to develop a simple and effective virtual grasping method, which enables users to use a dexterous virtual hand as the avatar in the virtual environment without finger tracking to reach and grasp digital 3D objects naturally. The preliminary verification results show that the proposed method has some advantages over the traditional virtual grasping method based on forward kinematics.