力／触觉再现虚拟现实系统的实现方法研究

力／触觉再现技术通过提供给操作者作用力的感觉，极大地增强了虚拟现实系统的真实感，并且拓展了虚拟现实技术的应用领域。该文论述了由力／触觉设备、操作者和计算机仿真环境组成的力／触觉再现虚拟现实系统体系结构，分析了系统实现过程中需要着重注意的系统稳定性问题，包括操作系统引入误差、作用力计算刷新率和速度估算等。最后，结合Delta力／触觉设备，实现了基于PC机的力／触觉再现虚拟现实原型系统并进行了实验。对于力／触觉再现的深入研究具有指导意义。

The realization of haptic rendering system for virtual reality

Haptic rendering provides the users with a sense of touch, improves the realism of virtual reality greatly and extends its fields of application. The paper describes the architecture for haptic rendering which consists of the haptic device, the human operator and the simulating environment. Several crucial issues concerning system stability, including operation system -induced jitters, methods for achieving high force computing refresh rate and velocity estimation, are analyzed and discussed with emphasis. Based on Delta haptic device and PC computer, we realize a prototype haptic rendering system for virtual reality and testify it with experiments, The paper gives insight into the further research of haptic rendering.