基于物理的虚拟手交互碰撞力觉生成和反馈

Physically-Based Haptic Display of Rigid Body Collisions with Virtual Hand Interaction

提出一种考虑摩擦的虚拟手交互碰撞力觉生成和反馈方法,以让用户手指感受到逼真的冲击,增强虚拟操作的真实性和沉浸感.该方法首先运用冲量定理和弹性恢复系数,求得质点刚体在二维空间碰撞后的运动状态,然后结合库仑定理,生成质点刚体有摩擦的碰撞力,并拓展到三维空间的虚拟环境中,计算非质点的虚拟刚体碰撞的力矩,再通过虚拟手静力抓持力觉生成模型,将碰撞力和碰撞力矩作用到虚拟手上,求得每个虚拟手指受到的冲击力.当虚拟手抓持的物体与其它虚拟物体发生碰撞时,利用CyberGrasp力觉反馈数据手套,用户手指可感受到逼真的冲击力.实验结果表明运用所提出的方法,用户在虚拟装配时可感受到真实的碰撞力.

The force generation and feedback of virtual hand interaction is a challenging task for the researchers in virtual reality. When virtual body grasped by virtual hand collided with other objects, operators＇ real hand could feel realistic impulse force, which would not only improve VR＇s immersion and authenticity deeply, but also help operators predict virtual objects＇ natural behavior and direct them interaction with virtual world. A method of collision force generation and feedback with friction for virtual hand interaction in virtual environments is proposed. Based on impulse theorem and coefficient of elastic recovery, the motion rules for virtual objects after collision are deduced. By Coulomb＇s friction model, this paper describes the generation of collision force in planar space which is explored to 3D virtual space, and collision force and collision moment in virtual environment are achieved. The means of collision force acting on hand is discussed, and impulsive force for each finger is calculated by virtual hand grasp optimized models with minimum force spiral. Experimental results show that using the collision force generation and feedback method, the user can sense realistic impulsive forces via the CyberGrasp data glove caused by virtual collision.