【摘要】 提出了一种基于物理的虚拟手静力抓持虚拟物体力觉生成和反馈方法.借鉴机械手抓持原理,在建立基于物理的虚拟手静力抓持通用力学模型并对其进行可解性分析的基础上,针对通用力学模型的多解性,提出了虚拟手最小力螺旋模型以生成力觉,并根据抓持物体的不同,进行模型实例化,实时求得各虚拟手指上的力和(或)力矩.实验结果表明,借助于本文的力觉生成和反馈方法,利用CyberGrasp力觉反馈数据手套,用户可在抓持虚拟物体时感受到真实的接触力.更多还原

【Abstract】 The force generation and feedback of virtual hand interaction is a challenging task for the researchers of virtual reality. When virtual hand grasps virtual objects, users’ real hand coule feel realistic contact force, which would not only improve VR’s immersion and authenticity deeply, but also help users predict virtual objects’ natural behavior and direct users interaction with virtual world. In this paper, a method for physically based virtual hand grasp force generation and feedback in virtual environments is proposed. Based on the theory of robot’s hand grasp, a physically based general force model of virtual hand grasp is presented and analyses are performed for solving the model. To overcome the uncertainty in the solution of the general model and produce realistic force feedback for virtual hand grasp, optimized models with minimum force spiral are presented and solution schemes are discussed. Experimental results show that using our force generation and feedback method, the user can sense realistic contact forces via the CyberGrasp data glove during the process of virtual grasping.更多还原