Brainstorming Ideas

Contents

• Brainstorming Ideas
  – Topology
  – Sensors and feedback
  – Interface
  – Visual
  – Postures
  – Documents
  – Initially needed information
• Other Ideas
  – Grip lock
  – Grasp taxonomy
  – Shoulder control
  – Automatic grip
• References
  – Grasp reference
  – Detailed hand

Brainstorming Ideas

Topology

• T1. [DONE] Custom skeleton (e.g. model 1 individual finger, or a hand with 6 fingers)
• T2. [DONE] Custom shapes (e.g. different 3D shapes of body parts)
• T3. [DONE] Custom degrees of freedom in joints
• T4. [DONE] Custom ranges of joint rotations
• T5. Inverse kinematics
• T6. Soft tissue and deformations
• T7. Dependant motors (they retrieve orientation from another motor)

Sensors and feedback

• S1. [DONE] Custom positions of sensors
• S2. [DONE] Feedback from joint positions
• S3. [DONE] Collision detection with external objects
• S4. [DONE] Self-collision detection
• S5. [DONE] Visual feedback with color heatmaps
• S6. [DONE] Visual feedback with vectors
• S7. Visual feedback with tables/graphs
• S8. Gravity for gripped objects
• S9. [DONE] Velocity sensor
• S10. [DONE] Accelleration sensor
• S11. [DONE] Temperature sensor

Interface

• I1. Interface API for using from outside
• I2. [DONE] Programming control via API
• I3. [DONE] API for model definition
• I4. [DONE] API for model motion

Visual

• V1. [DONE] Interactive controls
• V2. Stock objects to grap and hold
• V3. [DONE] Importing GLTF body parts
• V4. Exporting GLTF models
• V5. Customs warning (aka virtual pain)
• V6. [DONE] VR mode (with VR headsets)

Postures

• P1. Mapping between input data and posture
• P2. [DONE] Predefined collection of postures
• P3. Predefined animations
• P4. [DONE] Scenes with several models
• P5. Self-balancing of pressure
• P6. [DONE] Predefined models (e.g. hands)
• P7. Self-learning mode
• P8. Macros mode (e.g. grip for rod, ball, cup; handshake, …)

Documents

• D1. [DONE] GitHub project
• D2. [DONE] User documentation
• D3. Educational content
• D4. Academic papers
• D5. [DONE] Social network disseminations (e.g. videos)

References

Grasp reference

A Sketchpad model of a human head making the sign language gestures for all letters and digits is available at Male Hands Alphabet Numbers. It can be used as a reference so that to verify whether all these gestures can be made with the virtual hand.

Additionally, The Japanese Sigh Language has a larger set of fingerspelling gestures, shown in Practice JSL Fingerspelling or in Japanese manual syllabary

Detailed hand

A Sketchpad model is a detailed 3D model of robotic hand. The license is CC-BY, so it is possible to download it and test whether Virtual Robotics can use this model. The model is jointed hands BJD.