基于变刚度与力反馈的虚拟3D画笔触觉行为  

Haptic Behavior of Virtual 3D Brush Based on Variable Stiffness and Force Feedback

作　　者：黄磊[1] 侯增选[1] 李楠楠 张迪靖 苏金辉 HUANG Lei;HOU Zengxuan;LI Nannan;ZHANG Dijing;SU Jinghui(College of Mechanical Engineering,Dalian University of Technology,Dalian 116024,China)

机构地区：[1]大连理工大学机械工程学院,辽宁大连116024

出　　处：《湖南大学学报（自然科学版）》2020年第8期49-59,共11页Journal of Hunan University:Natural Sciences

基　　金：国家自然科学基金资助项目(51175058);国家重点基础研究发展计划(973计划)项目(2014CB046604)。

摘　　要：针对汽车工业中虚拟油泥模型外观设计问题,采用一种六自由度输入设备并基于实时力反馈交互技术,提出一种新型的变刚度画笔模型以及触觉装饰方法,实现在虚拟三维物体表面实时触觉绘制与外观装饰.基于变刚度弹性理论,深入研究虚拟3D画笔的触觉行为.首先,采用一种弯曲弹簧振子模型来构建3D画笔的力学模型,并分析虚拟画笔实时变形与承受的绘制力之间的内在关系;接着,基于一种加权平均距离的碰撞算法,研究虚拟画笔与虚拟3D物体之间的碰撞检测问题;采用一种球扩展操作以获得弯曲画笔的最小包围球,进而计算得到虚拟投影平面;根据在一个采样点处的画笔变形,得到虚拟投影平面上的二维笔触;通过将二维画笔笔触实时地映射到三维对象表面,便可以得到三维笔触;沿着三维绘制方向,通过控制绘制力矩并叠加不同大小、形状的3D笔触便可得到3D笔道.仿真对比实验结果表明,所采用的画笔模型及方法可以有效增强用户虚拟绘制时的真实性.For the exterior design of virtual clay model in automotive industry, a novel variable stiffness brush model and haptic decorating method are proposed using a six DOF input device and based on real-time force feedback technology, and the haptic behavior of virtual 3 D brush based on variable stiffness is studied in detail. Firstly,the relationship between brush deformation and endured force is examined by employing the bending spring-mass model to construct the 3 D brush mechanical model. Then, the collision detection between virtual hairy brush and virtual 3 D object is studied based on a collision algorithm of Weighted Average Distance. An effective ball expanding operation is used to compute the smallest bounding sphere of the bent brush and then to determine the projection plane.The 2 D footprint produced between the brush and the projection plane is calculated according to the deformation of the brush at a sampling point, and then, the 3 D brush footprint can be obtained by projecting the 2 D brush footprint onto the 3 D object surface. The 3 D brush stroke is formed by controlling the exerted force and superimposing 3 D brush footprints along the direction of painting. Experiment results show that the adopted method can effectively enhance the reality to users.

关 键 词：计算机触觉 人机交互 实时力反馈 变刚度 碰撞检测 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]