【作者】 赵明；

【导师】 汤德佑； 李康顺；

【作者基本信息】 华南理工大学 ， 软件工程， 2012， 硕士

【摘要】 虚拟人体仿真是在虚拟环境下进行人体仿真,在核反应堆维护、载人航天、医疗手术的模拟训练等高危险性作业中有着广泛的应用。而手部运动跟踪是虚拟人体仿真中一个不可缺少的组成部分,所以研究其具有重要的意义。手部运动跟踪系统是通过从外部传感器设备中采集相关数据,然后作用于虚拟环境中的手部模型,从而完成手部的平移旋转、手部指骨绕相应关节旋转以及手部与虚拟物体交互等操作。本文对手部运动跟踪系统进行设计,并在Virtools平台下实现了手部运动跟踪系统。本文的主要工作如下：(1)完成手部运动数据采集。本文基于人体生物学数据模型,对5DT数据手套采集的数据进行分析,再将其转换为适合Virtools平台的数据格式,并在该平台下开发了5DT数据采集模块。同时,本文对trakSTAR位置跟踪器采集的数据进行分析和转换,在Virtools平台下实现位置跟踪器数据采集模块。实验表明,本文所设计的模块可以保证数据采集的正确性,为手部的各种运动提供支持。(2)完成在Virtools平台下的手部基本运动。本文根据计算机图形学中三维运动中平移、旋转、坐标变换等算法,依托外部设备采集的数据,在Virtools平台下实现了手指指骨的屈伸运动和手部在三维空间中的平移、旋转等动作。实验表明,此方法可以较为简单的实现手部的各种运动。(3)完成手部与物体的交互操作。本文基于Virtools平台的特性,设计出判断手部是否可以抓起物体的算法,并在Virtools平台下实现了此功能。实验表明,在缺少力反馈设备的条件下,此方法可以较好的实现手部与虚拟物体的交互。本文完成了手部运动跟踪系统的设计与实现。测试结果表明,该系统可以实现手部运动、手部跟踪和手部与虚拟物体交互等功能。更多还原

【Abstract】 Virtual human simulation is the human body simulation in the virtual environment,which has wide applications in the field of high-risk operations, such as the nuclear reactormaintenance, manned space flight, medical and surgical simulation training. It is significantto study the hand motion tracking, for which is an indispensable part of the virtual humansimulation. Hand motion tracking system is aimed to realize the process of hands interactingwith virtual entities by collecting data from external sensor devices and then reacting on thevirtual hand to realize the parallel motion and rotation of the virtual hand and the rotation ofthe hand joints.In this paper, we design a hand motion tracking system which has been realized underthe Virtools platform. The main contents are as follows:(1) The data collection of hand movement. Based on the human biological data, we dosome research on sampling the data of5DT Data glove and convert it into the Virtoolsplatform required data. We also develop the acquisition module of5DT data in the platform.Besides, we convert the data sampled by the trakSTAR location tracker and realize the dataacquisition module of location tracker which can be collected under the Virtools platform.The simulation results show that the presented module in the paper can ensure the precisionof data acquisition to support for all kinds of the finger movements.(2) Finger movement. Based on the algorithms of parallel motion, rotation andcoordinate transformation in three-dimensional motion in computer graphics, under theVirtools platform, we realize the flexion and extension movements of fingers, parallel motionand rotation and other motions of the hand in the three-dimensional space, by relying on thedata collected by the external device. The simulation results show that this method can bemore easily realize the all kinds of the finger movements.(3) Collision detection. In this paper we present the classical algorithm of collisiondetection with an emphasis on the bounding box of several classic algorithms and theperformance comparison. And we deduce the bounding box algorithm under Virtoolsplatform. Besides, we design a simple and effective algorithm for hand grabbing objects according to the property of Virtools platform. The simulation results show that in theabsence of force feedback devices, this method can realize an efficient interaction betweenthe hand and the virtual objects.In this paper, we implement the hand motion tracking system under the Virtools platform.After testing, we found that all functions work well.更多还原