虚拟物体的力_触觉模型与再现技术研究进展_.pdfVIP

第 21 卷第 15 期 系 统 仿 真 学 报© Vol. 21 No. 15 2009 年 8 月 Journal of System Simulation Aug., 2009 虚拟物体的力/触觉模型及再现技术研究进展 张小瑞，宋爱国，刘 佳，李建清 (东南大学仪器科学与工程学院，南京 210096) 摘 要：虚拟物体在受力作用时的形变建模是虚拟环境中力/触觉人机交互的关键。分析了虚拟物 体的力/触觉模型及再现技术的研究难点。介绍了当前六种有代表性的力/触觉模型：自由式形变模 型、3D ChainMail 模型、弹簧-质点模型、有限元模型、Shape-Retaining Chain Linked 模型、长单元 模型，并在此基础上对这些模型的优缺点进行了比较。最后对力/触觉模型及再现技术的发展趋势 进行了展望。 关键词：虚拟现实；力/形变模型；力触觉再现；力反馈 中图分类号：TP391 文献标识码：A 文章编号：1004-731X (2009) 15-4555-06 Development on Haptic Model and Rendering Technology of Virtual Objects ZHANG Xiao-rui, SONG Ai-guo, LIU Jia, LI Jian-qing (School of Instrument Science and Technology, Southeast University, Nanjing 210096, China) Abstract: Deformation modelling of virtual objects under force is a key issue for haptic interaction between human and computer in virtual environment. The problems of haptic modelling and rendering of virtual objects were analyzed. Six typical haptic models including free-form deformation model, 3D chainmail deformation model, mass-spring deformation model, finite element model, shape-retaining chain linked model and long elements method model were discussed. Based on the above analysis, the merits and the disadvantages of these models were compared. Finally, the developing tendency of haptic modelling and rendering technology in future was pointed. Key words: virtual reality; force-deformation model; haptic rendering; force feedback