虚拟手操作随动仿真算法研究

Study on Algorithm of Virtual Hand Operation Simulation

针对在交互操作过程中虚拟手抓持物体后,虚拟手及被操作物体如何逼真跟随运动的问题,分析了虚拟手交互操作过程。对虚拟手采用两层仿真模型,对绕轴转动类物体提出以转动角度计算其和虚拟手的随动算法,该算法保证了在移动过程中虚拟手与被操作对象的接触位置不变,实现了连续随动。给出了支持无约束自由移动类物体、有约束沿固定方向移动类物体和有约束绕轴转动类物体虚拟手交互操作统一仿真流程。最后通过空间站舱门和灭火器交互操作仿真实例对仿真流程和随动算法进行了综合验证,结果表明,仿真流程能适应不同约束类型的物体操作仿真,随动算法使得操作与视觉反馈一致,交互操作简单自然,实时性好,为后续航天员采用虚拟现实训练提供了有效的基础算法。

To realize realistic follow-up movement of the virtual hand and the manipulated virtual object during interactive operation,the interaction process of the virtual hand operation was analyzed.The two level model of virtual hand was used,and the algorithm for calculating the position and posture of virtual hand and rotation objects around the axis based on rotation angle was proposed.The algorithm realized the invariable contact point between the virtual hand and the object during the virtual hand grasping and moving,and continuous follow up.The unified simulation flow was given which could support three classes of objects:unconstrained free moving objects,objects moving along a fixed direction,and objects rotating around the axis.Finally,the interactive simulation exam-ple of space station hatch and fire extinguisher were used to verify the simulation flow and the follow-up algorithm.The results showed that the simulation process could adapt to the operation simulation of different constraint types of objects;the follow up algorithm made the virtual hand and object motion consistent with the user operation action.The interactive operation was simple,natural and in real time.It provides an effective basic algorithm for subsequent astronaut’s virtual reality training.