Building method of superimposed disc spring virtual model for flexible haptic rendering

Abstract

The invention discloses a building method of superimposed disc spring virtual model for flexible haptic rendering. The building method is characterized in that when the circumstance that a virtual agent collides with any point on the surface of a virtual flexible body is detected, under action of given virtual contact pressure, the inside of a local area in which the virtual agent interacts with the virtual flexible body is filled with the superimposed disc spring virtual model; in the process of interaction, a signal reflecting haptic information of real-time deformation simulation of the flexible body under pressure action and calculated by adopting the superimposed disc spring virtual model is output and fed back ; addition of sums of deformation of disc springs on each layer in the superimposed disc spring virtual model is externally equivalent to deformation of the surface of the flexible body, and sum of pressure consumed when the superimposed disc springs on each layer are compressed. By the building method, the deformation process of the flexible body can be vividly simulated in real time, haptic information which is fed back is real and stable, and a feasible path is sought for practically using virtual operation simulating.

Description

technical field [0001] The invention relates to a modeling method for force-tactile reproduction, in particular to a modeling method for a virtual model of stacked disc springs for flexible force-tactile reproduction. Background technique [0002] The purpose of physical modeling is to study the corresponding deformation of the flexible body when it is subjected to pressure. The quality of its establishment directly determines the accuracy and speed of virtual surgery simulation. [0003] The tactile modeling method of flexible physical force is the basis of surgical simulation, and scholars at home and abroad have done a lot of work in this area. The spring-mass point has the advantages of simple modeling, low calculation complexity, and good adaptability to changes in soft tissue topology, but the disadvantages of this modeling method are limited accuracy and stability, and cannot accurately describe when the deformation is large. Deformation of soft tissues. Although th...

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Problems solved by technology

The spring-mass point has the advantages of simple modeling, low calculation complexity, and good adaptability to changes in soft tissue topology, but the disadvantages of this modeling method are limited accuracy and stability, and cannot accurately describe when the deformation is large. deformation of soft tissue

Although the finite element can construct a more accurate model, the calculation is complicated. When the number of network nodes is large, the interaction of virtual surgery is poor.

Although the boundary element improves the real-time performance of the model to a certain extent, but the stability is poor

Long units can construct a highly simplified model, although it is convenient to solve, but due to the high abstraction of the model, the calculation accuracy is low

Lin proposed a two-level hierarchical reproduction modeling method, although the deformation is realistic, but the premise is that the research object is abstracted as a rigid object

Although the shape-preserving chain modeling method proposed by Kim et al. has good real-time performance, it is based on the assumption of a rigid body and has low accuracy.

Parallel diamond chain connection, although modeling is simple, but since each layer in the model is composed of the same diamond chain structural unit, distortion is prone to occur at the boundary of simulation deformation

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