Finger model verification method and information processing apparatus

{
  "publication_number": "US10379620B2",
  "country": "US",
  "kind": "B2",
  "title": "Finger model verification method and information processing apparatus",
  "abstract": "An information processing apparatus includes a processor configured to generate, in a simulation space, a rectangular parallelepiped surrounding a target part among a plurality of parts. The target part is taken by a human body. The rectangular parallelepiped has surfaces in contact with a maximum outer shape of the target part. The processor is configured to identify, among the surfaces of the generated rectangular parallelepiped, surfaces other than a surface in contact with a part different from the target part, and select combinations of two surfaces among the identified surfaces. The processor is configured to identify, among the selected combinations, a combination which satisfies a condition that a vector from a point of a first finger to a point of a second finger penetrates the rectangular parallelepiped when the two surfaces in the combination are taken by the two fingers. The two fingers are included in the human body.",
  "claims": [
    "1. A non-transitory computer-readable recording medium having stored therein a program that causes a computer to execute a process, the process comprising: searching for a plurality of parts that intersects with an approach direction of an arm of a human body in a simulation space; setting one of the plurality of parts that is nearest to the arm of the human body as a target part taken by two fingers of the arm of the human body in the simulation space; generating, in the simulation space, a rectangular parallelepiped surrounding the target part, the rectangular parallelepiped having a plurality of surfaces in contact with a maximum outer shape of the target part, respectively; identifying, among the plurality of surfaces of the generated rectangular parallelepiped, a plurality of surfaces other than a surface in contact with one of the plurality of parts that is different from the target part, the part being among the plurality of parts; selecting, among the identified plurality of surfaces other than the surface in contact with the one of the plurality of parts, a plurality of combinations of two surfaces that face each other in the rectangular parallelepiped, a distance between the two surfaces that face each other being shorter than a predetermined threshold value; identifying, among the identified plurality of surfaces other than the surface in contact with the one of the plurality of parts, a plurality of surfaces that is visible when viewed from the approach direction of the arm of the human body in the simulation space; changing position of the arm such that a first finger of the two fingers of the arm is placed at a center of one of the plurality of surfaces that is visible when viewed from the approach direction of the arm of the human body in the simulation space; calculating a first vector from a point of the first finger of the fingers of the arm to a point of a second finger of the two fingers of the arm that penetrates the rectangular parallelepiped when two surfaces among the identified plurality of surfaces other than the surface in contact with the one of the plurality of parts are taken by the two fingers of the arm of the human body in the simulation space; calculating a rotation amount to rotate the first vector to a second vector formed between the two surfaces of each of the plurality of combinations of two surfaces that face each other; and selecting, among the plurality of combinations of two surfaces that face each other, a combination having a smallest rotation amount in order to reduce the rotation amount between the first vector and the second vector.",
    "2. The non-transitory computer-readable recording medium according to claim 1, wherein the first finger of the two fingers of the arm is a thumb.",
    "3. A finger model verification method, comprising: searching for a plurality of parts that intersects with an approach direction of an arm of a human body in a simulation space; setting one of the plurality of parts that is nearest to the arm of the human body as a target part taken by two fingers of the arm of the human body in the simulation space; generating, in the simulation space, by a computer, a rectangular parallelepiped surrounding the target part, the rectangular parallelepiped having a plurality of surfaces in contact with a maximum outer shape of the target part, respectively; identifying, among the plurality of surfaces of the generated rectangular parallelepiped, a plurality of surfaces other than a surface in contact with one of the plurality of parts that is different from the target part, the first part being among the plurality of parts; selecting, among the identified plurality of surfaces other than the surface in contact with the one of the plurality of parts, a plurality of combinations of two surfaces that face each other in the rectangular parallelepiped, a distance between the two surfaces that face each other being shorter than a predetermined threshold value; identifying, among the identified plurality of surfaces other than the surface in contact with the one of the plurality of parts, a plurality of surfaces that is visible when viewed from the approach direction of the arm of the human body in the simulation space; changing position of the arm such that a first finger of the two fingers of the arm is placed at a center of one of the plurality of surfaces that is visible when viewed from the approach direction of the arm of the human body in the simulation space; and calculating a first vector from a point of the first finger of the two fingers of the arm to a point of a second finger of the two fingers of the arm that penetrates the rectangular parallelepiped when two surfaces among the identified plurality of surfaces other than the surface in contact with the one of the plurality of parts are taken by the two fingers of the arm of the human body in the simulation space; calculating a rotation amount to rotate the first vector to a second vector between the two surfaces of each of the plurality of combinations of two surfaces that face each other; and selecting, among the plurality of combinations of two surfaces that face each other, a combination having a smallest rotation amount in order to reduce the rotation amount between the first vector and the second vector.",
    "4. An information processing apparatus, comprising: a memory; a processor coupled to the memory and the processor configured to configured to: search for a plurality of parts that intersects with an approach direction of an arm of a human body in a simulation space, set one of the plurality of parts that is nearest to the arm of the human body as a target part taken by two fingers of the arm of the human body in the simulation space, generate, in the simulation space, a rectangular parallelepiped surrounding a the target part, the rectangular parallelepiped having a plurality of surfaces in contact with a maximum outer shape of the target part, respectively, identify, among the plurality of surfaces of the generated rectangular parallelepiped, a plurality of surfaces other than a surface in contact with one of the plurality of parts that is different from the target part, the part being among the plurality of parts, select, among the identified plurality of surfaces other than the surface in contact with the one of the plurality of parts, a plurality of combinations of two surfaces that face each other in the rectangular parallelepiped, a distance between the two surfaces that face each other being shorter than a predetermined threshold value, identify, among the identified plurality of surfaces other than the surface in contact with the one of the plurality of parts, a plurality of surfaces that is visible when viewed from the approach direction of the arm of the human body in the simulation space, change position of the arm such that a first finger of the two fingers of the arm is placed at a center of one of the plurality of surfaces that is visible when viewed from the approach direction of the arm of the human body in the simulation space, calculate a vector from a point of the first finger of the two fingers of the arm to a point of a second finger of the two fingers of the arm that penetrates the rectangular parallelepiped when two surfaces among the identified plurality of surfaces other than the surface in contact with the one of the plurality of parts are taken by the two fingers of the arm of the human body in the simulation space, calculate a rotation amount to rotate the first vector to a second vector formed between the two surfaces of each of the plurality of combinations of two surfaces that face each other, and select, among the plurality of combinations of two surfaces that face each other, a combination having a smallest rotation amount in order to reduce the rotation amount between the first vector and the second vector."
  ],
  "description_excerpt": "The embodiment discussed herein is related to a finger model verification method and an information processing apparatus\n\nA technology for reproducing, for example, a human body or an object in a three-dimensional (3D) simulation space has conventionally been known. A technology of operating the human body or object simulated in the simulation space by an input device such as, for example, a mouse has also been known. Therefore, a work on the object performed by the human body may be simulated in the simulation space. For example, a technique of performing a verification of a work sequence such as, for example, an assembly or disassembly of an object in the simulation space has been known.\n\nAlso, a technique of generating a gripping pattern of a part by a robot hand has conventionally been known.\n\nAlso, in a conventional gripping process of a 3D model, a technique of emitting a ray or firing a bullet from a gripping tool has been known, in which, when the ray or the bullet collides with a 3D model, the 3D model is selected as a gripping target model.\n\nRelated techniques are disclosed in, for example, Japanese Laid-Open Patent Publication No. 2014-240106, Japanese Laid-Open Patent Publication No. 2009-172685, and Japanese Laid-Open Patent Publication No. 2001-325611.\n\nHowever, it has conventionally been difficult to reproduce, in a simulation space, a state where an arm is actually stretched out to take a part. For example, when the reproduction is made by a mouse operation, the reproduction requires a time since the simulation space is a 3D space but the mouse operation is a planar operation.",
  "cpc": [
    "G06F 3/017",
    "G06F 3/011",
    "G06F 3/0346",
    "G06F 3/03545",
    "G06F 3/038"
  ],
  "ipc": [
    "G06F 17/50",
    "B25J 9/16",
    "G06F 3/01",
    "G06F 3/0346",
    "G06F 3/0354",
    "G06F 3/038"
  ],
  "assignees": [
    "Fujitsu Ltd"
  ],
  "inventors": [
    "Shota TANAKA",
    "Naoyuki Nozaki"
  ],
  "filing_date": "2016-05-24",
  "publication_date": "2019-08-13",
  "grant_date": "2019-08-13",
  "priority_date": "2015-06-25",
  "application_number": "US-201615163043-A",
  "family_id": "57602493",
  "cited_by_count": 1,
  "citations": [
    "US20090144664A1",
    "JP2001325611A",
    "US20020008720A1",
    "US20040010346A1",
    "JP2009172685A",
    "US20110010009A1",
    "US20130184860A1",
    "US20130184870A1",
    "US20150019013A1",
    "US9333649B1",
    "JP2014240106A"
  ]
}