Modeling method of symmetrical type plate spring virtual model enhancing haptic feedback

Abstract

The invention discloses a modeling method of a symmetrical type plate spring virtual model enhancing haptic feedback, which is characterized by comprising the following steps of: only feeding back and outputting 1 / f noise signals based on orthogonal wavelet bases before a virtual agent collides with a virtual flexible body; feeding back and outputting signals obtained by overlying the 1 / f noise signals fitting to the response law of human bodies on irritation and the haptic information of the real-time deformation simulation of the flexible body, which is calculated by adopting the symmetrical type plate spring virtual model and responded under the action of pulling force, together in an interactive process, wherein the overlying of the deformation amount sum of each layer of symmetrical type single-plate spring of the symmetrical type plate spring virtual model enhancing the haptic feedback is externally equivalent to the deformation of the surface of the flexible body, and the sum of pulling force consumed when each layer of the symmetrical type single-plate spring is stretched is equivalent to given virtual contact pulling force. The modeling method can realize the real-time deformation simulation of the flexible body, has real haptic feeling and vivid deformation effect and meets the requirements of a virtual reality system on virtual surgery simulation.

Description

technical field [0001] The present invention relates to a modeling method for force-tactile reproduction, in particular to a modeling method for a symmetrical leaf spring virtual model of a flexible body based on physical meaning that enhances force-tactile reproduction in real time during virtual surgery simulation. method. Background technique [0002] With the continuous advancement of modern medicine and its related technologies, surgical operations are gradually developing in the direction of low trauma and high safety. For patients, advanced surgical techniques can make their own wounds small and recover quickly, greatly reducing the pain of patients; for surgeons, surgical techniques and instruments used are becoming more and more complex, requiring a large number of It takes training and practice to master. Therefore, it is of great academic, economic and social significance to carry out virtual surgery simulation on the flexible body of the human body involved in ...

AI Technical Summary

Problems solved by technology

[0004] At present, there are five commonly used modeling methods for real-time force tactile reproduction of flexible bodies based on physical meaning: ①The spring-mass model has a simple structure, easy to implement algorithms and high computational efficiency, and easy to achieve real-time and interactivity, but Due to the limitation of the mechanical structure of the model itself, there are certain difficulties in the model construction of the system, the selection of parameters and the accuracy of the simulation effect, so the accuracy and stability are often unsatisfactory.

② Although the finite element model can accurately and quantitatively simulate the deformation of objects, it involves a large number of complicated calculations and has poor real-time interaction

③ Although the boundary element model discretizes the boundary of the model, which simplifies the calculation, it has certain difficulties in terms of stability

④The long-unit model has a high refresh rate of haptic feedback and is easy to solve, but due to the high abstraction of the model, the calculation accuracy is low

⑤The shape-preserving chain model has the advantage of good real-time performance, but based on the assumption that the chain elements are rigid bodies, the accuracy is not high

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

In addition, due to the complexity, difference, and diversity of the flexible body of the human body, the existing commonly used modeling methods for real-time force-tactile reproduction of flexible bodies based on physical meaning are not ideal in terms of deformation effects.

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