【作者】 杨文珍； 高曙明； 万华根； 刘玉生； 陈文华；

【Author】 YANG Wen-zhen 1, 2, GAO Shu-ming 2+, Wang Huagen2 Liu Yu-sheng 2, Chen Wen-hua 1 1 Department of Machinery and Automation, Zhejiang Sci-Tech University, Hangzhou 310018, China 2 State Key Lab of CAD&CG, Zhejiang University, Hangzhou 310027, China

【机构】 浙江理工大学机械与自动控制学院； 浙江大学CAD&CG国家重点实验室；

【摘要】 为使用户感受到虚拟手抓持着物体旋转运动时真实的作用力,本文提出了一种基于物理的虚拟手静力抓持物体旋转运动时力觉生成方法。首先构建虚拟手交互的坐标系统,然后,提出虚拟物体姿态变化判断算法,如果虚拟物体姿态发生变化,再运用虚拟手静力抓持最小力螺旋非线性优化模型生成实时生成姿态变化后的真实抓持力。实验结果表明:采用此算法,当虚拟手静力抓着物体旋转运动时,用户可感受到逼真地抓持力觉。更多还原

【Abstract】 A method of realistic grasp force rendering for the virtual hand revolving an object in virtual environments is presented, which would not only improve the immersion and authenticity of the virtual reality environment deeply, but also help operators predict virtual objects’ natural behavior and direct their interaction with virtual world. By tracking the position of the grasped object, the pose change of the grasped object is detected. An algorithm is used to calculate the distribution of the external force imposed on the grasped object in the new pose, and the grasp force of the virtual hand is regenerated according to the physically-based general force model of virtual hand grasp. Experimental results showed that using the proposed virtual finger’s grasp force rendering method, the user can sense realistic grasp forces via the cybergrasp data glove when virtual fingers revolving an object in virtual environments.更多还原