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    Area of Science:

    • Virtual Reality
    • Haptics
    • Robotics

    Background:

    • Direct hand interaction in virtual environments offers natural immersion.
    • Maintaining stable, high-frequency (1 kHz) haptic feedback without penetration during complex hand-object contact is a significant challenge.

    Purpose of the Study:

    • To develop a stable and efficient framework for high-fidelity virtual hand haptic interaction.
    • To enable real-time, non-penetrating simulation of numerous hand-object contacts.

    Main Methods:

    • Introduced a decoupled-and-progressive optimization framework for graphic hand configuration.
    • Employed a sphere-tree model and articulated cone frustums for virtual hand representation.
    • Utilized a configuration-based optimization algorithm for non-penetration contact constraints.

    Main Results:

    • Demonstrated high update rates (>1 kHz) and stability across various manipulation tasks.
    • Ensured non-penetration between the virtual hand and complex objects under diverse contact conditions.
    • Successfully handled frequent contact switches and up to ~250 simultaneous contacts.

    Conclusions:

    • The proposed framework achieves stable, high-frequency virtual hand haptic simulation.
    • Effective non-penetration is maintained even with complex interactions and frequent contact changes.
    • Enables more immersive and realistic virtual reality experiences through advanced haptic feedback.