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

A modeling method and technology of virtual model, applied in mechanical mode conversion, user/computer interaction input/output, special data processing application, etc., can solve the problem of low accuracy, low calculation accuracy, model construction, parameter selection simulation Accuracy is difficult and other problems, to achieve the effect of improving fidelity, simple calculation, accurate and fast calculation of deformation

Inactive Publication Date: 2012-06-27
NANJING UNIV OF INFORMATION SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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.

Method used

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

Examples

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Effect test

Embodiment 1

[0057] 1. A modeling method for a virtual model of a symmetrical leaf spring with enhanced force tactile reproduction, characterized in that the main steps of the modeling method are as follows:

[0058] Step 1 initialize the virtual scene;

[0059] Step 2 Before detecting that the virtual agent collides with the virtual flexible body, that is, in the process of approaching the virtual flexible body, feedback and output the 1 / f noise signal based on the orthogonal wavelet base, which can be synthesized by the random process of Karhunen-Loeve expansion Means:

[0060]

[0061] Among them, x(t) is the 1 / f noise signal based on orthogonal wavelet basis, Is a set of uncorrelated, zero-mean random variables with variance satisfying

[0062] var x n m = σ 2 2 - rm - - - ( 2 )

[0063] The wavelet coefficient matrix of, m is the scale, the value range is 1≤m≤32, and n is a random integer between 0-32767, Is the orthogonal wavelet basis function,...

specific Embodiment 2

[0093] 1. Construct a virtual straight clamp model and a virtual heart model to realize the initialization of the virtual scene.

[0094] In this example, all virtual medical straight pliers and virtual heart models directly adopt the OBJ format exported from 3DS MAX 9.0 software. The virtual medical straight pliers are composed of 612 mass points, 1207 triangle meshes, and 3000 mass points, 6412 triangles. The virtual heart model composed of a grid is used as an example to perform deformation simulation. The model is very convenient to obtain and modify during the experiment; the operating system is Windows 2000, based on 3DS MAX 9.0 and OpenGL graphics library, on the VC++6.0 software development platform Simulation.

[0095] 2. When the virtual straight clamp is close to the virtual flexible body, the feedback output is based on the 1 / f noise signal of the orthogonal wavelet base.

[0096] Synthesizing the 1 / f noise signal based on orthogonal wavelet base by Karhunen-Loeve expans...

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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 invention relates to a modeling method for force tactile reproduction, in particular to a virtual model of a symmetrical leaf spring virtual model for human-computer interaction based on physical meaning to enhance force tactile reproduction in real time during virtual surgery simulation method. Background technique [0002] With the continuous advancement of modern medicine and 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, which greatly reduces the pain of patients; for surgeons, surgical techniques and instruments used are becoming more and more complex, requiring a lot of Training and internship can only be mastered. Therefore, it is of great academic, economic and social significance to perform virtual surgery simulation on the human flexible body involved in the surgical process befor...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F3/01G06F19/00
Inventor 张小瑞孙伟宋爱国张颖超叶小岭李佳璐张小娜陈刚
Owner NANJING UNIV OF INFORMATION SCI & TECH