Е-Публикации
Технически университет - София

Abstract: Virtual communication, involving the transmission of all human senses, is the next step in the development of telecommunications. Achieving this vision requires real-time data exchange with low latency, which in turn necessitates the implementation of the Tactile Internet (TI). TI will ensure the transmission of high-quality tactile data, especially when combined with audio and video signals, thus enabling more realistic interactions in virtual environments. In this context, advances in realism increasingly depend on the accurate simulation of the grasping process and hand–object interactions. To address this, in this paper, we methodically present the challenges of human–object interaction in virtual environments, together with a detailed review of the datasets used in grasping modeling and the integration of physics-based and machine learning approaches. Based on this review, we propose a multi-step framework that simulates grasping as a series of biomechanical, perceptual, and control processes. The proposed model aims to support realistic human interaction with virtual objects in immersive settings and to enable integration into applications such as remote manipulation, rehabilitation, and virtual learning.

References

1. Sharma S.K. Woungang I. Anpalagan A. Chatzinotas S. Toward tactile internet in beyond 5G era: Recent advances, current issues, and future directions IEEE Access 2020 8 56948 56991 10.1109/ACCESS.2020.2980369
2. Stefanidi Z. Margetis G. Ntoa S. Papagiannakis G. Real-time adaptation of context-aware intelligent user interfaces, for enhanced situational awareness IEEE Access 2022 10 23367 23393 10.1109/ACCESS.2022.3152743
3. Lawson McLean A. Lawson McLean A.C. Immersive simulations in surgical training: Analyzing the interplay between virtual and real-world environments Simul. Gaming 2024 55 1103 1123 10.1177/10468781241287892
4. Haynes G.C. Stager D. Stentz A. Vande Weghe J.M. Zajac B. Herman H. Kelly A. Meyhofer E. Anderson D. Bennington D. et al. Developing a robust disaster response robot: CHIMP and the robotics challenge J. Field Robot. 2017 34 281 304 10.1002/rob.21696
5. Zhu J. Cherubini A. Dune C. Navarro-Alarcon D. Alambeigi F. Berenson D. Ficuciello F. Harada K. Kober J. Li X. et al. Challenges and outlook in robotic manipulation of deformable objects IEEE Robot. Autom. Mag. 2022 29 67 77 10.1109/MRA.2022.3147415
6. Berrezueta-Guzman S. Chen W. Wagner S. A Therapeutic Role-Playing VR Game for Children with Intellectual Disabilities arXiv 2025 10.48550/arXiv.2507.19114 2507.19114
7. Alverson D.C. Saiki Jr S.M. Kalishman S. Lindberg M. Mennin S. Mines J. Serna L. Summers K. Jacobs J. Lozanoff S. et al. Medical students learn over distance using virtual reality simulation Simul. Healthc. 2008 3 10 15 10.1097/SIH.0b013e31815f0d51 19088637
8. Saeed S. Khan K.B. Hassan M.A. Qayyum A. Salahuddin S. Review on the role of virtual reality in reducing mental health diseases specifically stress, anxiety, and depression arXiv 2024 2407.18918
9. Santos J. Wauters T. Volckaert B. De Turck F. Towards low-latency service delivery in a continuum of virtual resources: State-of-the-art and research directions IEEE Commun. Surv. Tutor. 2021 23 2557 2589 10.1109/COMST.2021.3095358
10. Awais M. Ullah Khan F. Zafar M. Mudassar M. Zaigham Zaheer M. Mehmood Cheema K. Kamran M. Jung W.S. Towards enabling haptic communications over 6G: Issues and challenges Electronics 2023 12 2955 10.3390/electronics12132955
11. Manoj R. Krishna N. TS M.S. A Comprehensive Study on the Integration of Robotic Technology in Medical Applications considering Legal Frameworks & Ethical Concerns Int. J. Health Technol. Innov. 2024 3 29 37
12. Ahmad A. Migniot C. Dipanda A. Tracking hands in interaction with objects: A review Proceedings of the 2017 13th International Conference on Signal-Image Technology & Internet-Based Systems (SITIS) Jaipur, India 4–7 December 2017 IEEE Piscataway, NJ, USA 2017 360 369
13. Si W. Wang N. Yang C. A review on manipulation skill acquisition through teleoperation-based learning from demonstration Cogn. Comput. Syst. 2021 3 1 16 10.1049/ccs2.12005
14. Tian H. Wang C. Manocha D. Zhang X. Realtime hand-object interaction using learned grasp space for virtual environments IEEE Trans. Vis. Comput. Graph. 2018 25 2623 2635 10.1109/TVCG.2018.2849381
15. Romero J. Tzionas D. Black M.J. Embodied Hands: Modeling and Capturing Hands and Bodies Together Acm Trans. Graph. (Proc. SIGGRAPH Asia) 2017 36 245 10.1145/3130800.3130883
16. Pavlakos G. Choutas V. Ghorbani N. Bolkart T. Osman A.A.A. Tzionas D. Black M.J. Expressive Body Capture: 3D Hands, Face, and Body from a Single Image Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2019 Long Beach, CA, USA 15–20 June 2019 10975 10985
17. Moon G. Xu W. Joshi R. Wu C. Shiratori T. Authentic Hand Avatar from a Phone Scan via Universal Hand Model Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2024 Seattle, WA, USA 16–22 June 2024 2029 2038
18. Wang Y.K. Xing C. Wei Y.L. Wu X.M. Zheng W.S. Single-View Scene Point Cloud Human Grasp Generation Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2024 Seattle, WA, USA 16–22 June 2024 831 841
19. Karunratanakul K. Yang J. Zhang Y. Black M.J. Muandet K. Tang S. Grasping field: Learning implicit representations for human grasps Proceedings of the 2020 International Conference on 3D Vision (3DV) Virtual 25–28 November 2020 IEEE Piscataway, NJ, USA 2020 333 344
20. Li Z. Sedlar J. Carpentier J. Laptev I. Mansard N. Sivic J. Estimating 3d motion and forces of person-object interactions from monocular video Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2019 Long Beach, CA, USA 15–20 June 2019 8640 8649
21. Hampali S. Rad M. Oberweger M. Lepetit V. Honnotate: A method for 3d annotation of hand and object poses Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2020 Seattle, WA, USA 13–19 June 2020 3196 3206
22. Oprea S. Martinez-Gonzalez P. Garcia-Garcia A. Castro-Vargas J.A. Orts-Escolano S. Garcia-Rodriguez J. A visually realistic grasping system for object manipulation and interaction in virtual reality environments Comput. Graph. 2019 83 77 86 10.1016/j.cag.2019.07.003
23. Yang L. Zhan X. Li K. Xu W. Li J. Lu C. Cpf: Learning a contact potential field to model the hand-object interaction Proceedings of the IEEE/CVF International Conference on Computer Vision 2021 Montreal, QC, Canada 10–17 October 2021 11097 11106
24. Wang C. Zang X. Zhang X. Liu Y. Zhao J. Parameter estimation and object gripping based on fingertip force/torque sensors Measurement 2021 179 109479 10.1016/j.measurement.2021.109479
25. Huang I. Narang Y. Eppner C. Sundaralingam B. Macklin M. Bajcsy R. Hermans T. Fox D. DefGraspSim: Physics-based simulation of grasp outcomes for 3D deformable objects IEEE Robot. Autom. Lett. 2022 7 6274 6281 10.1109/LRA.2022.3158725
26. Cha J. Kim J. Yoon J.S. Baek S. Text2HOI: Text-guided 3D Motion Generation for Hand-Object Interaction Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2024 Seattle, WA, USA 16–22 June 2024 1577 1585
27. Pokhariya C. Shah I.N. Xing A. Li Z. Chen K. Sharma A. Sridhar S. MANUS: Markerless Grasp Capture using Articulated 3D Gaussians Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2024 Seattle, WA, USA 16–22 June 2024 2197 2208
28. Zhang Q. Li Y. Luo Y. Shou W. Foshey M. Yan J. Tenenbaum J.B. Matusik W. Torralba A. Dynamic modeling of hand-object interactions via tactile sensing Proceedings of the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Prague, Czech Republic 27 September–1 October 2021 IEEE Piscataway, NJ, USA 2021 2874 2881
29. Watkins-Valls D. Varley J. Allen P. Multi-modal geometric learning for grasping and manipulation Proceedings of the 2019 International Conference on Robotics and Automation (ICRA) Montreal, QC, Canada 20–24 May 2019 IEEE Piscataway, NJ, USA 2019 7339 7345
30. Siddiqui M.S. Coppola C. Solak G. Jamone L. Grasp stability prediction for a dexterous robotic hand combining depth vision and haptic bayesian exploration Front. Robot. AI 2021 8 703869 10.3389/frobt.2021.703869
31. Zhang Z. Zhang Z. Wang L. Zhu X. Huang H. Cao Q. Digital twin-enabled grasp outcomes assessment for unknown objects using visual-tactile fusion perception Robot.-Comput.-Integr. Manuf. 2023 84 102601 10.1016/j.rcim.2023.102601
32. Bhatnagar B.L. Xie X. Petrov I.A. Sminchisescu C. Theobalt C. Pons-Moll G. Behave: Dataset and method for tracking human object interactions Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2022 New Orleans, LA, USA 18–24 June 2022 15935 15946
33. Palleschi A. Angelini F. Gabellieri C. Pallottino L. Bicchi A. Garabini M. Grasp It Like a Pro 2.0: A Data-Driven Approach Exploiting Basic Shape Decomposition and Human Data for Grasping Unknown Objects IEEE Trans. Robot. 2023 39 4016 4036 10.1109/TRO.2023.3286115
34. Chen Z. Chen S. Schmid C. Laptev I. gsdf: Geometry-driven signed distance functions for 3d hand-object reconstruction Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2023 Vancouver, BC, Canada 17–24 June 2023 12890 12900
35. Chao Y.W. Yang W. Xiang Y. Molchanov P. Handa A. Tremblay J. Narang Y.S. Van Wyk K. Iqbal U. Birchfield S. et al. DexYCB: A benchmark for capturing hand grasping of objects Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2021 9044 9053
36. Sajjan S. Moore M. Pan M. Nagaraja G. Lee J. Zeng A. Song S. Clear grasp: 3d shape estimation of transparent objects for manipulation Proceedings of the 2020 IEEE international conference on robotics and automation (ICRA) Paris, France 31 May–31 August 2020 IEEE Piscataway, NJ, USA 2020 3634 3642
37. Gao R. Chang Y.Y. Mall S. Fei-Fei L. Wu J. Objectfolder: A dataset of objects with implicit visual, auditory, and tactile representations arXiv 2021 10.48550/arXiv.2109.07991 2109.07991
38. Breyer M. Chung J.J. Ott L. Siegwart R. Nieto J. Volumetric grasping network: Real-time 6 dof grasp detection in clutter Proceedings of the Conference on Robot Learning. PMLR 2021 London, UK 8–11 November 2021 1602 1611
39. Mayer V. Feng Q. Deng J. Shi Y. Chen Z. Knoll A. FFHNet: Generating multi-fingered robotic grasps for unknown objects in real-time Proceedings of the 2022 International Conference on Robotics and Automation (ICRA) Philadelphia, PA, USA 23–27 May 2022 IEEE Piscataway, NJ, USA 2022 762 769
40. Ni P. Zhang W. Zhu X. Cao Q. Pointnet++ grasping: Learning an end-to-end spatial grasp generation algorithm from sparse point clouds Proceedings of the 2020 IEEE International Conference on Robotics and Automation (ICRA) Paris, France 31 May–31 August 2020 IEEE Piscataway, NJ, USA 2020 3619 3625
41. Li H. Lin X. Zhou Y. Li X. Huo Y. Chen J. Ye Q. Contact2grasp: 3d grasp synthesis via hand-object contact constraint arXiv 2022 2210.09245
42. Wang S. Liu X. Wang C.C. Liu J. Physics-aware iterative learning and prediction of saliency map for bimanual grasp planning Comput. Aided Geom. Des. 2024 111 102298 10.1016/j.cagd.2024.102298
43. Liu Q. Cui Y. Ye Q. Sun Z. Li H. Li G. Shao L. Chen J. DexRepNet: Learning dexterous robotic grasping network with geometric and spatial hand-object representations Proceedings of the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Detroit, MI, USA 1–5 October 2023 IEEE Piscataway, NJ, USA 2023 3153 3160
44. Zhang H. Yang D. Wang H. Zhao B. Lan X. Ding J. Zheng N. Regrad: A large-scale relational grasp dataset for safe and object-specific robotic grasping in clutter IEEE Robot. Autom. Lett. 2022 7 2929 2936 10.1109/LRA.2022.3142401
45. Wang Z. Chen Y. Liu T. Zhu Y. Liang W. Huang S. Humanise: Language-conditioned human motion generation in 3d scenes Adv. Neural Inf. Process. Syst. 2022 35 14959 14971
46. Liu S. Jiang H. Xu J. Liu S. Wang X. Semi-supervised 3d hand-object poses estimation with interactions in time Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2021 Nashville, TN, USA 20–25 June 2021 14687 14697
47. Chaudhari B.S. Enabling Tactile Internet via 6G: Application Characteristics, Requirements, and Design Considerations Future Internet 2025 17 122 10.3390/fi17030122
48. Xiang H. Wu K. Chen J. Yi C. Cai J. Niyato D. Shen X. Edge computing empowered tactile Internet for human digital twin: Visions and case study arXiv 2023 2304.07454
49. Lu Y. Kong D. Yang G. Wang R. Pang G. Luo H. Yang H. Xu K. Machine learning-enabled tactile sensor design for dynamic touch decoding Adv. Sci. 2023 10 2303949 10.1002/advs.202303949
50. Turpin D. Wang L. Heiden E. Chen Y.C. Macklin M. Tsogkas S. Dickinson S. Garg A. Grasp’d: Differentiable contact-rich grasp synthesis for multi-fingered hands Proceedings of the European Conference on Computer Vision 2022 Tel Aviv, Israel 23–27 October 2022 Springer Cham, Switzerland 2022 201 221
51. Huang I. Narang Y. Eppner C. Sundaralingam B. Macklin M. Hermans T. Fox D. Defgraspsim: Simulation-based grasping of 3d deformable objects arXiv 2021 2107.05778
52. Grady P. Tang C. Twigg C.D. Vo M. Brahmbhatt S. Kemp C.C. Contactopt: Optimizing contact to improve grasps Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2021 Nashville, TN, USA 20–25 June 2021 1471 1481
53. Van der Merwe M. Lu Q. Sundaralingam B. Matak M. Hermans T. Learning continuous 3d reconstructions for geometrically aware grasping Proceedings of the 2020 IEEE International Conference on Robotics and Automation (ICRA) Paris, France 31 May–31 August 2020 IEEE Piscataway, NJ, USA 2020 11516 11522
54. Yang L. Li K. Zhan X. Lv J. Xu W. Li J. Lu C. Artiboost: Boosting articulated 3d hand-object pose estimation via online exploration and synthesis Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2022 New Orleans, LA, USA 18–24 June 2022 2750 2760
55. Cao Z. Radosavovic I. Kanazawa A. Malik J. Reconstructing hand-object interactions in the wild Proceedings of the IEEE/CVF International Conference on Computer Vision 2021 Montreal, QC, Canada 10–17 October 2021 12417 12426
56. Coumans E. Bullet physics simulation ACM SIGGRAPH 2015 Courses Association for Computing Machinery New York, NY, USA 2015 1
57. Coumans E. Bai Y. PyBullet Quickstart Guide 2021 Available online: https://raw.githubusercontent.com/bulletphysics/bullet3/master/docs/pybullet_quickstartguide.pdf (accessed on 23 September 2025)
58. Koenig N. Howard A. Design and use paradigms for gazebo, an open-source multi-robot simulator Proceedings of the 2004 IEEE/RSJ international conference on intelligent robots and systems (IROS)(IEEE Cat. No. 04CH37566) Sendai, Japan 28 September–2 October 2004 IEEE Piscataway, NJ, USA 2004 Volume 3 2149 2154
59. Todorov E. Erez T. Tassa Y. Mujoco: A physics engine for model-based control Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura-Algarve Portugal 7–12 October 2012 IEEE Piscataway, NJ, USA 2012 5026 5033
60. Lu Q. Van der Merwe M. Sundaralingam B. Hermans T. Multifingered grasp planning via inference in deep neural networks: Outperforming sampling by learning differentiable models IEEE Robot. Autom. Mag. 2020 27 55 65 10.1109/MRA.2020.2976322
61. Li K. Wang J. Yang L. Lu C. Dai B. Semgrasp: Semantic grasp generation via language aligned discretization arXiv 2024 10.48550/arXiv.2404.03590 2404.03590
62. Liang H. Ma X. Li S. Görner M. Tang S. Fang B. Sun F. Zhang J. Pointnetgpd: Detecting grasp configurations from point sets Proceedings of the 2019 International Conference on Robotics and Automation (ICRA) Montreal, QC, Canada 20–24 May 2019 IEEE Piscataway, NJ, USA 2019 3629 3635
63. Xu Y. Wan W. Zhang J. Liu H. Shan Z. Shen H. Wang R. Geng H. Weng Y. Chen J. et al. Unidexgrasp: Universal robotic dexterous grasping via learning diverse proposal generation and goal-conditioned policy Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2023 Vancouver, BC, Canada 17–24 June 2023 4737 4746
64. Murali A. Liu W. Marino K. Chernova S. Gupta A. Same object, different grasps: Data and semantic knowledge for task-oriented grasping Proceedings of the Conference on Robot Learning. PMLR 2021 London, UK 8–11 November 2021 1540 1557
65. Braun J. Christen S. Kocabas M. Aksan E. Hilliges O. Physically plausible full-body hand-object interaction synthesis Proceedings of the 2024 International Conference on 3D Vision (3DV) Davos, Switzerland 18–21 March 2024 IEEE Piscataway, NJ, USA 2024 464 473
66. Zhang H. Christen S. Fan Z. Zheng L. Hwangbo J. Song J. Hilliges O. ArtiGrasp: Physically plausible synthesis of bi-manual dexterous grasping and articulation Proceedings of the 2024 International Conference on 3D Vision (3DV) Davos, Switzerland 18–21 March 2024 IEEE Piscataway, NJ, USA 2024 235 246
67. Kasaei H. Kasaei M. Mvgrasp: Real-time multi-view 3d object grasping in highly cluttered environments Robot. Auton. Syst. 2023 160 104313 10.1016/j.robot.2022.104313
68. Hasson Y. Varol G. Tzionas D. Kalevatykh I. Black M.J. Laptev I. Schmid C. Learning joint reconstruction of hands and manipulated objects Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2019 Long Beach, CA, USA 15–20 June 2019 11807 11816
69. Brahmbhatt S. Tang C. Twigg C.D. Kemp C.C. Hays J. ContactPose: A dataset of grasps with object contact and hand pose Proceedings of the Computer Vision–ECCV 2020: 16th European Conference Glasgow, UK 23–28 August 2020 Proceedings, Part XIII 16 Springer Cham, Switzerland 2020 361 378
70. Taheri O. Ghorbani N. Black M.J. Tzionas D. GRAB: A dataset of whole-body human grasping of objects Proceedings of the Computer Vision–ECCV 2020: 16th European Conference Glasgow, UK 23–28 August 2020 Proceedings, Part IV 16 Springer Cham, Switzerland 2020 581 600
71. Yang L. Li K. Zhan X. Wu F. Xu A. Liu L. Lu C. Oakink: A large-scale knowledge repository for understanding hand-object interaction Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2022 New Orleans, LA, USA 18–24 June 2022 20953 20962
72. Taheri O. Choutas V. Black M.J. Tzionas D. GOAL: Generating 4D whole-body motion for hand-object grasping Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2022 New Orleans, LA, USA 18–24 June 2022 13263 13273
73. Fan Z. Taheri O. Tzionas D. Kocabas M. Kaufmann M. Black M.J. Hilliges O. ARCTIC: A dataset for dexterous bimanual hand-object manipulation Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2023 Vancouver, BC, Canada 17–24 June 2023 12943 12954
74. Tendulkar P. Surís D. Vondrick C. Flex: Full-body grasping without full-body grasps Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2023 Vancouver, BC, Canada 17–24 June 2023 21179 21189
75. Chang X. Sun Y. Text2Grasp: Grasp synthesis by text prompts of object grasping parts arXiv 2024 10.48550/arXiv.2404.15189 2404.15189
76. Farias C. Marti N. Stolkin R. Bekiroglu Y. Simultaneous tactile exploration and grasp refinement for unknown objects IEEE Robot. Autom. Lett. 2021 6 3349 3356 10.1109/LRA.2021.3063074
77. Gao M. Ruan N. Shi J. Zhou W. Deep neural network for 3D shape classification based on mesh feature Sensors 2022 22 7040 10.3390/s22187040
78. Jiang H. Liu S. Wang J. Wang X. Hand-object contact consistency reasoning for human grasps generation Proceedings of the IEEE/CVF International Conference on Computer Vision 2021 Montreal, QC, Canada 10–17 October 2021 11107 11116
79. Li Y. Schomaker L. Kasaei S.H. Learning to grasp 3d objects using deep residual u-nets Proceedings of the 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Naples, Italy 31 August–4 September 2020 IEEE Piscataway, NJ, USA 2020 781 787
80. Fan Z. Parelli M. Kadoglou M.E. Chen X. Kocabas M. Black M.J. Hilliges O. HOLD: Category-agnostic 3d reconstruction of interacting hands and objects from video Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2024 Seattle, WA, USA 16–22 June 2024 494 504
81. Hao Y. Zhang J. Zhuo T. Wen F. Fan H. Hand-Centric Motion Refinement for 3D Hand-Object Interaction via Hierarchical Spatial-Temporal Modeling Proceedings of the AAAI Conference on Artificial Intelligence 2024 Vancouver, BC, Canada 20–27 February 2024 Volume 38 2076 2084
82. Petrov I.A. Marin R. Chibane J. Pons-Moll G. Object pop-up: Can we infer 3d objects and their poses from human interactions alone? Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2023 Vancouver, BC, Canada 17–24 June 2023 4726 4736
83. Ye Y. Gupta A. Tulsiani S. What’s in your hands? 3d reconstruction of generic objects in hands Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2022 New Orleans, LA, USA 18–24 June 2022 3895 3905
84. Zhou K. Bhatnagar B.L. Lenssen J.E. Pons-Moll G. Toch: Spatio-temporal object-to-hand correspondence for motion refinement Proceedings of the European Conference on Computer Vision 2022 Tel Aviv, Israel 23–27 October 2022 Springer Cham, Switzerland 2022 1 19
85. Kiatos M. Malassiotis S. Sarantopoulos I. A geometric approach for grasping unknown objects with multifingered hands IEEE Trans. Robot. 2020 37 735 746 10.1109/TRO.2020.3033696
86. Corona E. Pumarola A. Alenya G. Moreno-Noguer F. Rogez G. Ganhand: Predicting human grasp affordances in multi-object scenes Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2020 Seattle, WA, USA 13–19 June 2020 5031 5041
87. Fang H.S. Wang C. Gou M. Lu C. Graspnet-1billion: A large-scale benchmark for general object grasping Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2020 Seattle, WA, USA 13–19 June 2020 11444 11453
88. Christoff N. Neshov N.N. Tonchev K. Manolova A. Application of a 3D talking head as part of telecommunication AR, VR, MR system: Systematic review Electronics 2023 12 4788 10.3390/electronics12234788
89. Zapata-Impata B.S. Gil P. Pomares J. Torres F. Fast geometry-based computation of grasping points on three-dimensional point clouds Int. J. Adv. Robot. Syst. 2019 16 1729881419831846 10.1177/1729881419831846
90. Tekin B. Bogo F. Pollefeys M. H+o: Unified egocentric recognition of 3d hand-object poses and interactions Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2019 Long Beach, CA, USA 15–20 June 2019 4511 4520
91. Delrieu T. Weistroffer V. Gazeau J.P. Precise and realistic grasping and manipulation in virtual reality without force feedback Proceedings of the 2020 IEEE Conference on Virtual Reality and 3D User Interfaces (VR) Atlanta, GA, USA 22–26 March 2020 IEEE Piscataway, NJ, USA 2020 266 274
92. Fan H. Zhuo T. Yu X. Yang Y. Kankanhalli M. Understanding atomic hand-object interaction with human intention IEEE Trans. Circuits Syst. Video Technol. 2021 32 275 285 10.1109/TCSVT.2021.3058688
93. Le T.T. Le T.S. Chen Y.R. Vidal J. Lin C.Y. 6D pose estimation with combined deep learning and 3D vision techniques for a fast and accurate object grasping Robot. Auton. Syst. 2021 141 103775 10.1016/j.robot.2021.103775
94. Baek S. Kim K.I. Kim T.K. Weakly-supervised domain adaptation via gan and mesh model for estimating 3d hand poses interacting objects Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2020 Seattle, WA, USA 13–19 June 2020 6121 6131
95. Stavrev S. Reimagining Robots: The Future of Cybernetic Organisms with Energy-Efficient Designs Big Data Cogn. Comput. 2025 9 104 10.3390/bdcc9040104

Issue

Copyright MDPI