基于人手指力学特性的虚拟手接触力生成

为了增强虚拟手交互的真实性和沉浸感，提出了一种考虑人手指力学特性的虚拟手接触力生成方法.通过分析虚拟环境中几种重要的接触力生成算法，结合人手的感知特性，构建了人手指接触力测量平台，研究了手指接触力和接触面积之间的关系，提炼出以接触面积为变量的指尖接触力的力学模型.仿生手的生理组织构造，分层建立虚拟手指的几何模型和运动模型，提出了虚拟手指接触面积的求解算法.实验结果表明，采用该虚拟手交互接触力生成算法，当虚拟手指触摸虚拟物体时，用户可感受到逼真的接触力觉.

Contact force rendering of virtual hand interaction based on human fingers' force characteristics

For improving the immersion and authenticity of virtual hand interaction,a method of contact force rendering of virtual hand interaction based on the human fingers' force characteristics in virtual environments was presented.After reviewing some research results of the human hand haptics,a measuring apparatus was constructed to measure the human fingers' contact force and contact areas.Then experiments were performed on in-vivo fingertips.From the experimental data, a contact force model was deduced to describe the real contact force properties of human fingertips.An algorithm to calculate the virtual fingertips' contact areas,which was based on the kinematics model of virtual hand,was proposed.Experimental results showed that using the proposed virtual finger's contact force rendering method,the user can sense realistic contact forces via the cybergrasp data glove when virtual fingers touch on virtual bodies.