用于虚拟力觉再现的弹簧-质点力/变形模型研究

为提高虚拟力觉再现的精度与实时性,提出了一种弹簧-质点力/变形模型,它将物体以受力点为中心,沿径向方向分割为呈同心圆分布的弹簧-质点系统。系统中各个质点的相对位移的叠加对外等效为物体表面变形,与之相连的弹簧弹性力的合力等于物体表面的接触力。该方法由于分割只涉及到发生变形的局部区域,不需要对整个物体进行大量的矩阵运算;进行了基于图像边缘检测的变形测量,推导了模型参数;基于此力变形模型,利用DELTA手控器,进行了柔性物体接触变形以及实时虚拟力反馈的半物理仿真。

Research on Mass-spring Force/Deformation Modeling for Haptic Display

In order to improve the precision and frequency, a mass-spring force/deformation model was proposed. To an isotropy object, the surface is divided radially along the force center, and the mass particles are connected with radial and axial distributed springs. The sum of spring forces is corresponded with external force, and the sum of displacement of each node equal to the total deformation. As the divisions are only concerned with the local deformed areas, large-scale matrix calculations are not needed. The deformation was measured based on the image edge detect, and the parameter was derived according the experiment. Using this model, the deformation of the virtual object was simulated, and synchronously the real-time virtual contact force was provided with DELTA haptic device.