虚拟现实环境下虚拟手控制技术研究

Study on Virtual Hand Control for Virtual Reality

虚拟手控制是虚拟现实关键技术之一。根据手的解剖结构和运动约束关系,建立了虚拟手的关节模型和实体模型。通过数据手套获取手指姿态数据进而确定虚拟手指弯曲的角度,通过驱动关节实体在其局部坐标系中的旋转运动来实现虚拟手指的位姿控制。通过位置跟踪器获取操作者手掌的位姿数据,采用数据分解和矩阵变换的方法将其映射为虚拟手掌在虚拟现实环境中的位姿,实现了对虚拟手的准确控制。

The control of virtual hand is one of key techniques to realize virtual reality. The joint model and entity model of virtual hand, according to the physiological features and motion constraints of real hand, were constructed. The flexion angles of virtual fingers joints, according to the gesture of real fingers, were determined by the raw data of data glove. Rolling the joint entities in their local coordinates controls the virtual fmgers＇ positions and gestures. The collision detection algorithm based on bounding boxes is adopted to avoid the penetration between virtual fingers and virtual palm effectively. The gestures of real palm that obtained by position tracker are mapped to the gestures of virtual palm in the virtual reality environment by data mapping and transfer matrixes. Finally the virtual hand can be controlled accurately.