面向力触觉再现柔软物体力形变模型验证系统（.docVIP

PAGE 4 面向力触觉再现的柔软物体力/形变模型验证系统?收稿日期：2017-06-22 ?收稿日期：2017-06-22 基金项目：国家自然科学基金资助项目61203319；江苏省基础研究计划（自然科学基金）项目（BK2012383）；2016年度南京航空航天大学基本科研业务费专项资助（NS2016032） 作者简介：陆熊（通信作者）（1980－），男，江苏如皋人，博士，副教授，硕士生导师，研究方向：力触觉人机交互与虚拟现实，E-mail：luxiong@nuaa.edu.cn； 陆熊，孙浩浩，万文章，陈晓丽 （南京航空航天大学 自动化学院，江苏 南京 211106） 摘要：基于力触觉的医学仿真系统应用中，柔性物体形变模型的真实性直接决定了系统性能和真实感。为了验证柔性物体力/形变模型的合理性，构建了基于CC2531芯片的无线数据收发平台、力传感器测量平台和FALCON手控器位移测量平台的力/形变模型验证系统。以新鲜猪肝脏为实验对象研究了弹性形变实验和穿刺实验的作用力/位移之间的关系；以力/形变测量数据为基础，进行了参数验证校调，仿真实验表明，模型中力/形变特性与实际测量保持一致。本文研究的系统能广泛应用于柔性物体力/形变模型验证，对于促进力触觉虚拟医学仿真系统的发展具有重要意义。 关键词：力触觉再现；作用力测量；无线通信；柔性物体形变模型；模型验证 中图分类号：TN242.6 文献标志码：A　　　文章编号： Force-Deformation Model Validation System for Deformable Objects in Haptic Rendering LU Xiong, SUN Haohao, WANG Wenzhang, CHEN Xiaoli (College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106 China) Abstract: In the application of haptic medical simulation systems, the reality of flexible object deformable model determines the system performance and reality. In order to verify the rationality of flexible object deformable model, the authors establish the force-deformation model validation system, which is consisted by wireless data transceiver platform based CC2531, force sensor measuring platform, displacement measurement platform based FALCON hand controller. The paper studies the relationship between interactive force and deformation in the elastic deformation experiment and impaling experiment with the experimental object of fresh pig liver. Based on the data of force and deformation, the parameters are confirmed and amended. The simulation results show that the characteristic of force and deformation is consistent with actual measurement. The proposed system can be utilized for verifying general deformable models, which will lead to more applications in haptic based medical simulation. Keywords: Haptic rendering; force measurement; wireless communic