基于力封闭的虚拟手稳定抓持力生成方法  

Method of generating a stable grasp force of virtual hand based on physics

作　　者：邹俞 晁建刚[1] 林万洪[1] ZOU Yu;CHAO Jian-gang;LIN Wan-hong(National Key Laboratory of Human Factors Engineering,China Astronaut Research and Training Center,Beijing 100094,China;Xi’an Satellite Control Center,Xi’an 710043,China)

机构地区：[1]中国航天员科研训练中心人因工程国家重点实验室,北京100094 [2]西安卫星测控中心,西安710043

出　　处：《计算力学学报》2019年第4期548-554,共7页Chinese Journal of Computational Mechanics

摘　　要：为解决虚拟训练中抓持力反馈生成的问题,研究了满足软指点接触模型的力封闭条件。基于力封闭求解中的操作力和内力的摩擦锥条件,通过非线性规划方程求解内力平衡和内力满足摩擦锥条件,并获取最稳定抓持的标准;提出需求压力和可提供压力的概念,建立了稳定静力抓持模型,实验实现了抓持力的生成。本文方法为虚拟手交互中的力觉生成提供了一种新方法。Purpose:To solve the problems arising from grip force feedback in virtual training.Process:In this paper,the conditions of force closure satisfying the soft-finger model are studied,and based on the cone of friction conditions of force and the balance of internal force in the force-closure solution,(1)We solve the internal force equilibrium and the internal forces to satisfy the friction cone by the nonlinear programming equation and obtaining the standard of the most stable grasping;(2)We put forward the concept of demand pressure and supply pressure.Method:On the basis of(1)and(2),a stable static grasping model is established,and the generation of the grasping force is realized experimentally.Conclusion:The method provides theoretical support for force generation in the virtual hand interaction.

关 键 词：抓持 力封闭 软指点接触模型 摩擦锥 内力平衡 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术] O316[自动化与计算机技术—计算机科学与技术]