【作者】 刘欣；

【导师】 孙济洲；

【作者基本信息】 天津大学 ， 计算机应用技术， 2007， 硕士

【摘要】 基于虚拟手的虚拟抓取交互技术在人机交互接口和工业产品设计的人机工程学测试等应用中发挥着重要的作用。在工业设计中,利用虚拟现实技术的人机工程学测试能够在产品设计的初级阶段检测产品,使产品的设计更加合理,更加满足人的舒适度方面的使用需求,可以缩短产品的生产周期,降低成本。本文以工业设计中的人机工程学测试为目标,分析了真实人手的生理解剖学结构和运动特点,总结出了人手是一个多关节多指节的运动系统,并对这种复杂的结构提出了简化的方法。根据合理的简化条件建立了符合人手运动规律的虚拟手运动学模型,并讨论了虚拟手的几何真实感建模。对数据手套采集的数据进行了分析,校准和滤波,提出了曲线拟合的动态校准新方法。该动态校准方法可以让文中所使用的手套能够适合不同大小的手,增强了手套的准确性和通用性。为了实现直观自然、实时准确、接近真实世界中的虚拟手与虚拟物体的交互,并计算出反馈作用力,本文提出了一种新的基于物理的交互方法。该方法避免了启发式方法的局限性,使交互具有通用性。启发式方法需要对虚拟手所交互的虚拟物体分类,根据特定分类制定相应的交互策略,交互是针对性的。而基于物理的方法不需要分类,使用通用的交互策略。本文对简单弹簧模型进行改进,提出用非线性弹簧模型计算抓取作用力,计算结果巧妙的以视觉渲染的形式反馈给用户。并对仿真的速率做了定量分析,仿真速率可以达到屏幕刷新频率和力反馈刷新频率的要求。实验结果表明,虚拟手可以直观自然的抓取三维虚拟物体,和三维物体之间能够进行实时交互,同时计算出了反馈作用力。更多还原

【Abstract】 Virtual grasping interaction technology based on virtual hand plays an important role in applications such as human-computer interaction interface and ergonomics tests for industrial product design, etc. In industrial product design, ergonomics tests using virtual reality technology can test the product in the initial stage, to make the product design more rational, more comfortable to meet the demand for people use, to shorten production cycles, reduce costs. This paper targets at ergonomics tests in industrial design, analyzing the physiological anatomical structure and movement characteristics of the human hand, concluding the human hand is a multi-joint movement system, simplified method is also proposed for this complex structure.According to reasonable simplifying conditions, a virtual hand kinematics model is created with movement as human hand, and virtual hand geometric realistic modeling is discussed. Acquisition data of the dataglove is analyzed, calibrated and filtered, a new calibration method is proposed. This method can make dataglove to fit different human hand sizes, and accuracy and universality of the dataglove are enhanced. For a purpose of naturally real-time interaction, also for a purpose of the feedback force calculation, a new physically based method for virtual hand grasping is presented. This method avoids the limitations of the heuristic method, making the interaction universality. Heuristic methods need to classify the virtual objects, interaction strategy is determined according to specified classification, and interaction is targed at a specific classification. But the physically based method doesn’t need classification of the virtual objects, using the universality interaction strategy. The simple spring model is improved and the grasping force is calculated with a non-linear spring model, the result feedback to users is in the form of visual rendering. A quantitative analysis is done on simulation rate, this simulation rate is fast enough for screen refresh rate and force rendering rate. Experimental results show that virtual grasping can be executed naturally in real-time, also feedback force is calculated.更多还原