柔性体力触觉形变模型研究-地球物理学报-计算机工程与应用.PDF

Computer Engineering and Applications 计算机工程与应用 2012 ，48 （14） 51 柔性体力触觉形变模型研究 1，2 2 3 方艳红 ，吴 斌 ，杨正宜 1，2 2 3 FANG Yanhong , WU Bin , YANG Zhengyi 1.西南科技大学 信息工程学院，四川 绵阳 621010 2.中国工程物理研究院 研究生部，四川 绵阳 621900 3.昆士兰大学 先进成像中心，澳大利亚 布里斯班 4072 1.School of Information Engineering, Southwest University of Science and Technology, Mianyang, Sichuan 621010, China 2.Graduate School, China Academy of Engineering Physics, Mianyang, Sichuan 621900, China 3.Centre for Advanced Imaging, the University of Queensland, Brisbane 4072, Australia FANG Yanhong, WU Bin, YANG Zhengyi. Study on haptic deformation model of virtual soft object. Comput- er Engineering and Applications, 2012, 48 （14）：51-55. Abstract ：To improve the stability, continuity and accuracy of flexible deformation and computational efficiency in haptic rendering, a novel approach based on spherical harmonic （SPHARM）representations to simulate the virtual deformation of soft objects is proposed. The object surface is represented by the features of SPHARM, including or- thonormality, rotational invariance, and multiresolution. Different SPHARM models are mapped into common refer- ence system in order for corresponding coefficients in the different models to be comparable with method of princi- pal components analysis and force feedback to be calculated by simplified deformation wave equation. Experimen- tal results demonstrate that accurate flexible deformation is represented. Key words ：haptic interaction; spherical harmonics; deformation models; principal components analysis 摘 要：针对虚拟现实力触觉交互中柔性体受力与形变的复杂关系，提出一种基于球面调和函数（Spherical Harmonic ，SPHARM））的柔性体力触觉仿真模型。利用SPHARM 的正交归一、旋转不变、多尺度等特性完成柔 性体几何模型的准确表达；将柔性体在不同作用力下的形变模型映射到共同的参照系统中，在共同的参照系 统中，利用主成分分析方法（Principal Components Analysis ，PCA ）完成柔性体在不同作用力下的形变比较，根 据简化后的波动方程计算物体形变后的反馈力。实验结果表明，该方法可以准确表达柔性体的形变过程，适 用于柔性体力触觉实时交互研究。 关键词：力触觉交互；球面调和函数；形变模型；主成分分析