一种用于力觉再现的柔性体变形仿真弹簧-质点模型

Efficient model for haptic display of flexible object deformation using mass-spring systems

提出一种新型的在虚拟现实中可实现的弹簧-质点力/变形模型.它按质点连接顺序划分层次,以受力网格为第1层,构建类似同心环状的弹簧-质点系统.施力刚体以点接触的方式与柔性体进行力交互作用.运用虚功原理,结合施力刚体与受力柔性体组成的系统中虚拟力和质点位移的关系,区别于以往对局部变形的研究,对柔性体进行全局变形分析.柔性体变形是整个柔性体表面质点在力平衡条件下位移变化累加的结果.利用DELTA手控器对柔性体的接触变形以及实时虚拟力反馈进行仿真,实验表明所提出的方法适用于柔性体的力反馈计算,满足精细作业对虚拟现实系统的要求.

An improved discrete mass-spring model is proposed for modeling of flexible object deformation, and its surface is divided radially along force mesh named the first hierarchy. The massspring system is composed of nodes connected with radially distributed springs. The interaction between rigid object and flexible object is performed by the point contact. Using theory of virtual work, the relations between virtual force and displacements of mass are analyzed to get whole flexible object deformation in the visual system instead of some usual local analyses. Visual object deformation is simulated by computing nodal deformation based on force equation at each mesh node in the surface. Using this model, the flexible object deformation is simulated, and synchronously the real-time virtual contact force is provided with DELTA haptic device.