基于改进弹簧质点模型的虚拟织物触觉生成  

Virtual Fabric Tactile Generation with Improved Mass-spring Model

作　　者：秦聪[1] 杨文珍[1] 吴新丽[1] 颜传武[1] 邵明朝[1] 

机构地区：[1]浙江理工大学虚拟现实实验室,杭州310018

出　　处：《系统仿真学报》2013年第9期2033-2038,共6页Journal of System Simulation

基　　金：国家863计划重点课题(2013AA013703)

摘　　要：提出了一种基于改进弹簧质点模型的虚拟织物触觉生成方法,实现了一个虚拟织物实时变形及触觉反馈的原型系统。我们采用改进的弹簧质点模型模拟虚拟织物的拉伸、弯曲和剪切等性能,建立并求解虚拟织物的位移方程,实现虚拟织物的实时形变。建立按压和滑动的点接触模型,我们实时求得虚拟探针触摸虚拟织物时的作用力,并通过PHANToM力反馈装置反馈给操作者。实验结果表明,该原型系统能让用户在触摸、按压或牵扯虚拟织物时,既能观察到虚拟织物的逼真变形,又能感受到虚拟织物的手感。A method for virtual fabric tactile generation was proposed based on an improved mass-spring model, and a virtual fabric tactile feedback prototype system was developed, which realized the real-time deformation and tactile feedback of the virtual fabric. By the improved mass-spring model, the expanding, bending and cutting performances of the virtual fabric could be simulated. The kinematic equations of the virtual fabric for simulating its deformation were established. By a contact force model, the action force between the virtual probe and virtual fabric was obtained. The operator could feel the action force by the PHANTOM device.

关 键 词：虚拟织物形变 接触模型 力反馈 虚拟织物感知 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]