虚拟物体间多点接触力再现研究

提出一种基于凸多面体间多点接触的虚拟力计算和再现方法，通过计算凸多面体的离散曲率，提取特征点并检测物体间的多点接触、边面接触和面面接触情况，在此基础上计算它们之间的虚拟力和摩擦力，同时输出到力觉交互设备。仿真实验结果表明，该方法能够有效体现凸多面体多点接触的力特征。

Research on Force Display for Multipoint Contacts Among Virtual Objects

A virtual force computing and display method based on multipoint contacts among convex polyhedron is proposed,which computes discrete curvature of convex polyhedron to extract character points,and detect some contacts cases,such as multipoint contacts,edge-surface contacts,and surfaces contacts.On the basis of it,the virtual force and friction forces between them are computed,and is transmitted to force sense interactive equipment.Simulation experimental results demonstrate this method can show the force ch...