地震救援虚拟仿真系统中虚拟手的操作  

Manipulation of Virtual Hand in Virtual Reality System for Earthquake Rescue

作　　者：杨宏生[1] 裴忠才[1] 曹宗胜 向日华 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100083 [2]总装备部工程设计研究总院,北京100028

出　　处：《系统仿真学报》2006年第12期3425-3429,共5页Journal of System Simulation

摘　　要：对虚拟手操作进行了分类,用Creator软件建立了虚拟手几何模型。分析并总结了地震现场救援虚拟仿真系统中虚拟手对救援装备的三种操作方式,即对杆状物的掌抓取、对按钮的指尖推动和对开关(旋钮)的指侧面抓取。在Vega环境下,提出了适合每种基本操作的通用碰撞检测方式和通用的相交矢量放置模式,保证了虚拟手操作的逼真度和实时性,并实现了虚拟手对三种类型救援装备的抓取、移动和释放。虚拟手对三种装备的操作同样适用于其它装备。Three kinds of manipulation to equipments in a virtual reality system for earthquake rescue were analyzed and summarized, including palm opposition to poles, fingertip pushing to button and side opposition to switch. Based on the structure and the kinematics model of hand, the geometrical model of hand was built via Creator. The general method of virtual hand collision detection in Vega was proposed, which was satisfied with fidelity and real time simultaneously. Also the moving and releasing of the equipments that virtual hand grasped were achieved. Experimental results show the three kinds of manipulation are applicable to other equipments.

关 键 词：虚拟现实 虚拟手 抓取规则 碰撞检测 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]