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Arm motion perception and interaction platform design and implementation

This paper introduces an arm motion perception and interaction platform using motion perception and touch/force interaction devices (wireless data glove, inertial tracking unit and force feedback device). The platform implements finger bend sensing, three dimensional motion tracking, and is able to feed back force to operator's hand on condition that it grasps the virtual object successfully. The paper first demonstrates the platform's hardware and software architecture. Then according to the physical constraints of arm motion and characteristics of the sensing and interaction devices used, an arm motion model and corresponding arm motion tracking method is proposed. Finally, in order to enhance the system real-time response, a collision detection algorithm with force feedback based on OBB and penetration depth is used to detect collision between arm model and virtual object.