Haptic texture rendering method based on practical measurement

Abstract

The invention discloses a haptic texture rendering method based on practical measurement, which is characterized in that after an operational handle of haptic texture display equipment collides with the surface of a virtual texture, resultant force of normal textural force, normal binding force and tangential friction is taken as contact force to be output to an operator. The normal textural force is obtained by measuring pressure which really scratches the surface of the texture, a mechanical arm which applies constant force and is provided with a pressure sensor at the bottom is used to scratch the surface of a textural material at a constant speed and collect data meanwhile, and after error item correction, smoothness, voltage value conversion, mechanical arm constant force value subtraction of the data, the data are converted into the normal textural force; the modeling of the normal binding force adopts a spring damping model; and the modeling of the tangential friction synthesizes a static friction stage and a sliding friction stage, the modeling at the static friction stage adopts the product of maximal static friction and a sine function, a coefficient of kinetic friction at the sliding friction stage is obtained by calculating the normal textural force reflecting the concave-convex degree of the texture, and the naturalness of the texture rendering is improved.

Description

technical field [0001] The invention relates to a force-tactile expression method of texture, and specifically proposes a texture force expression method based on real measurement. Background technique [0002] With the continuous development of virtual reality technology, the importance of haptic expression technology for virtual operation is becoming more and more significant. Texture is a comprehensive description of the microscopic geometry, roughness and other characteristics of the surface of an object. It is very necessary to study the force-tactile expression of texture. The haptic expression of texture is to feed back the texture information on the surface of the object to the operator through the haptic reproduction device, so that the operator can truly perceive the physical properties of the texture, so that the operator can obtain a strong sense of immersion and realism. This is texture The ultimate goal of haptic expression. [0003] At present, the haptic ex...

AI Technical Summary

Problems solved by technology

However, the optical measurement method has high requirements on the cleanliness of the measured surface, and dust has a great influence on its measurement results.

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