Flexible object deformation simulation method for force haptic human-computer interaction

Abstract

The invention provides a flexible object deformation simulation method for force haptic human-computer interaction. Based on a spring mass point model for equilateral triangle segmentation, according to the deformation of a flexible object, acting force is sequentially spread to all mass points in the structure layer by layer from the surface mass points inside a local area until reaching a certain preset boundary; overall consideration does not need to be conducted on the deformed object, and calculation resources are effectively and intensively put into the mass points in the local area. According to the flexible object deformation simulation method, only the mass points in the local area on the surface of the flexible object are involved, the deformation area is determined by contact force, the segmentation precision can be adjusted based on accuracy requirements, calculation quantity is greatly simplified, the deformation calculation speed is improved, adjustment is flexible, the application range is wide, and the flexible object deformation simulation method can be applied in the deformation situation where isotropous flexible objects are in stable contact, such as virtual surgical operation simulation and teleoperation robot control virtual reality human-computer interaction fields.

Description

technical field [0001] The invention belongs to the technical field of flexible tactile interaction, and relates to a method for simulating deformation of a flexible object, in particular to a method for simulating deformation of a flexible object based on a spring particle model divided by an equilateral triangle for force-tactile human-computer interaction. Background technique [0002] Flexible tactile interaction technology is an important application of virtual reality technology in tactile reproduction. A virtual three-dimensional space is formed by a computer, and the real environment is copied to the computer to generate a realistic "virtual environment", so that users can experience various senses. A sense of immersion in a virtual environment. Some special-purpose interactive devices can convert human operation actions into instruction sequences that can be recognized by the virtual reality system, and at the same time, the device can enable people to feel the feed...

AI Technical Summary

Problems solved by technology

[0009] Aiming at the problem that the spring mass point model lacks the limit of force action depth and the accuracy and real-time performance are difficult to control, the present invention proposes a flexible object deformation simulation method for force-tactile human-computer interaction. The simulation method is based on equilateral triangle division The spring mass point model can accurately and quickly calculate the deformation and force feedback, and realize the real-time deformation simulation of flexible objects, thereby improving the fidelity of virtual force-tactile interaction

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