柔软物体力触觉形变模型验证系统  

Force-deformation model validation system for flexible objects in haptic rendering

作　　者：陆熊[1] 孙浩浩 万文章[1] 陈晓丽 LU Xiong;SUN Haohao;WAN Wenzhang;CHEN Xiaoli(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)

机构地区：[1]南京航空航天大学自动化学院,江苏南京211106

出　　处：《国防科技大学学报》2018年第5期60-64,共5页Journal of National University of Defense Technology

基　　金：国家自然科学基金资助项目(61773205;61203319;61203316);江苏省基础研究计划(自然科学基金)资助项目(BK2012383);2016年度南京航空航天大学基本科研业务费专项资助项目(NS2016032)

摘　　要：为了验证柔性物体力-形变模型的合理性,构建了基于CC2531芯片的无线数据收发平台、力传感器测量平台和FALCON手控器位移测量平台的力-形变模型验证系统。以新鲜猪肝脏为实验对象,研究了弹性形变实验和穿刺实验的作用力与位移之间的关系;以力-形变测量数据为基础,进行了参数验证校调。仿真实验结果表明:模型中力-形变特性与实际测量值保持一致。该系统能广泛应用于柔性物体力-形变模型验证,对于促进力触觉虚拟医学仿真系统的发展具有重要意义。In order to verify the rationality of flexible object deformable model,the force-deformation model validation system was established,which consists of wireless data transceiver platform based CC2531,force sensor measuring platform,and displacement measurement platform based FALCON hand controller.The relationship between interactive force and deformation in the elastic deformation experiment and impaling experiment with the experimental object of fresh pig liver was studied.Based on the data of force and deformation,the parameters were confirmed and amended.The simulation results show that the characteristic of force and deformation is consistent with actual measurement.The proposed system can be utilized for verifying general deformable models,which will lead to more applications in haptic based medical simulation.

关 键 词：力触觉再现 作用力测量 无线通信 柔性物体形变模型 模型验证 

分 类 号：TN242.6[电子电信—物理电子学]