Haptic modeling method for deformation simulation of flexible body

Abstract

The invention discloses a haptic modeling method of an equal pitch conical spiral spring for deformation simulation of a flexible body. The haptic modeling method is characterized in that an equal pitch conical spiral spring model is only filled in a partial region where a virtual proxy is interacted with a virtual flexible body under the action of a given virtual contact force when the virtual proxy is detected to collide with any point on the surface of the virtual flexible body so as to calculate the force and the deformation of the partial region; a signal of the haptic information on the real-time deformation simulation of the flexible body obtained from the response calculated by the haptic modeling method of the equal pitch conical spiral spring under the action of an external force is output and fed back; and the superposition of the sum of the deformation of the equal pitch conical spiral springs at each layer is externally equivalent to the deformation of the surface of the flexible body in the modeling method. The modeling method of the model is simple and the deformation calculation process is simple and convenient so as to ensure high accuracy of the deformation simulation and high stability and high timeliness in the deformation simulation of the flexible body.

Description

technical field [0001] The invention relates to a force tactile modeling method, in particular to a force tactile modeling method for virtual reality human-computer interaction based on physical meaning of flexible body deformation simulation force tactile modeling. Background technique [0002] Virtual reality technology enables operators to directly participate in and explore the role and changes of virtual objects in their environment, making them feel like they are in a virtual world, giving users a realistic experience, generating a sense of immersion, and improving the efficiency of virtual operations. At the same time, it can provide great convenience for people to explore the macrocosm and microcosm, and has good economic and social benefits and attractive development prospects. As the tasks become more and more refined and the perceived objects become more and more complex, more and more accurate haptic modeling methods will be required. Therefore, the haptic modeli...

AI Technical Summary

Problems solved by technology

[0003] At present, the commonly used haptic modeling methods based on the physical meaning of flexible body deformation simulation mainly include the following six types: ① Although the finite element modeling method can accurately and quantitatively simulate the deformation of objects, it involves a lot of complicated calculations. poor interactive performance

②The spring-mass modeling method has the advantages of simplicity, small amount of calculation, and easy implementation, but has disadvantages such as difficulty in topology analysis

③The collocation method modeling method proposed by Suvranu et al., although the calculation is simple, the calculation accuracy is not high

④The tensor particle modeling method is easy to realize operations such as cutting or tearing, but the problem of poor stability still exists

⑤The long-unit modeling method has a higher refresh rate of haptic feedback and is easy to solve, but due to the high degree of abstraction of the modeling method, the calculation accuracy is low

⑥ Although the boundary element modeling method discretizes the boundary of the modeling method and simplifies the calculation, it has certain shortcomings in terms of stability

The above shows that these commonly used physical modeling methods for flexible body deformation have problems such as relatively complicated calculations and low simulation accuracy, which in turn affects the real-time and effectiveness of calculations.

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