双通道触觉交互系统中牙科手术工具之间动态交互的力觉仿真

介绍了基于双触觉交互装置的双通道触觉交互系统（牙科手术训练系统）中动态工具交互仿真的分析和实现。动态工具交互是指探作者同时探作两台触觉交互装王导致虚拟环境中工具之间发生接触和碰撞的力觉仿真，它是双通道触觉交互牙科手术训练系统的重要组成部分。提出了计算工具和显示工具的概念，将图形显示与虚拟力的计算和输出解藕，保证了图形显示过程中，虚拟环境中的工具不会发生空间的重叠和干涉。同时，工具之间的交互被分为自由空间运动、碰撞和碰撞后挤压三个阶段，碰撞和挤压阶段分剐提出了虚拟力计算模型，保证了虚拟力计算和输出的快速性、逼真性和稳定性。

Haptic Interaction to Realize Collision and Contact of Dental Tools in Double-channel Haptic Display System

The construction of dynamic tools interaction for dental training system was introduced. The dental training system is a double-channel haptic interaction system, which enables dentists to practice dental skills in the virtual reality dental training system with both his hands. Therefore, if the tools collide in virtual environment, operators should feel feedback force. The tool for computing and the tool for display were proposed to realize stable and realistic force output and graphics display. The result of haptic interaction is illustrated in the dental training system.