摘要：The grasping of virtual objects has been an active
research field for several years. Solutions providing
realistic grasping rely on special hardware or require
time-consuming parameterizations. Therefore, we introduce
a flexible grasping algorithm enabling grasping without
computational complex physics. Objects can be grasped
and manipulated with multiple fingers. In addition,
multiple objects can be manipulated simultaneously with
our approach. Through the usage of contact sensors the
technique is easily configurable and versatile enough to be
used in different scenarios.
