基于线素的力觉人机交互建模和实时渲染方法

针对空间路径引导的力觉交互过程,提出了线模型的建模思想以及实时渲染方法。在建模方法中,提出线素的概念,把三维空间复杂轨迹分解为基于线素(LIXEL)的有序拓扑装配连接。线素间的拓扑关系采用特征点描述,基于特征点实现基本线素的拼接和顺序定义。在实时渲染方法中,提出了一种基于DeCasteljau算法的三阶Bezier曲线模型的快速碰撞检测算法,以满足1kHz力信号更新率的要求,并提出了在书法力觉交互过程中基于检测特征点平面的稳定性处理方法。基于线模型方法构建了具有力反馈的书法训练系统,并进行了试验验证,证明采用线模型方法构建的力觉交互系统能够稳定、逼真地模拟钢笔书法训练时的力觉导引过程。

LIXEL: Novel Modeling and Rendering Method in Real Time Haptic Human-machine Interaction

According to the requirement in spatial trajectory-guided haptic human-machine interaction process, line-based modeling and real-time rendering method were introduced. In modeling method, LIXEL (line elements) were defined to form the basic units of modeling 3D complex trajectories. Topological structure between line elements was modeled by feature points, which includes linkages and sequence between line elements within a specified complex trajectory. In real-time rendering, a novel collision detection algorithm based on Bezier curve was introduced to satisfy the 1kHz update rate requirement in force rendering loop, which was evolved from the De Casteljau algorithm. Stability control during the force feedback procedure was ensured by detecting feature planes between line elements. The force feedback enabled Chinese calligraphy training system based on line-based modeling method was developed. Experiment results prove that the line-based modeling method can stably simulate the force feedback enabled guiding procedure with fidelity during the calligraphy training.