Virtual feedback force acquisition method based on virtual reality and corresponding electronic equipment

Abstract

The invention relates to the technical field of virtual reality, in particular to a virtual feedback force acquisition method based on virtual reality and corresponding electronic equipment. The virtual feedback force acquisition method comprises the following steps: S1, acquiring object information; s2, forming an agent point; s3, calculating a collision contact agent point; s4, calculating the contact depth; s5, virtual feedback force is calculated; the virtual feedback force in the step S5 is calculated by depending on a virtual force construction model, and the virtual force construction model is based on an improved mass-spring-damper system and comprises a nonlinear spring force model, a nonlinear damping force model and an inertia force model; according to the method, the contact depth when the object is in contact is obtained through a force feedback calculation method, accurate feedback force is constructed in combination with kinematics data of the object and a virtual force model, and real-time calculation and accurate transmission of the virtual force are achieved; the method is suitable for various complex virtual scenes and has high real-time performance and stability.

Description

Technical Field

[0001] The present invention relates to the field of virtual reality technology, and in particular to a method for obtaining virtual feedback force based on virtual reality and corresponding electronic equipment. Background Art

[0002] With the rapid development of virtual reality technology, the field of mechanical engineering has increasingly higher requirements for realism and interactivity in virtual environments. With the widespread application of VR systems in robotics, intelligent manufacturing technology, and medical rehabilitation, how to accurately and efficiently simulate physical and mechanical behaviors in virtual environments has become an important issue that needs to be solved. Traditional virtual force modeling methods are usually based on simplified physical models or empirical algorithms, which often have problems such as insufficient accuracy, low computational efficiency, and poor user interaction experience when simulating complex dynamic behaviors. These limitations affect the realism of the virtual environment and the user's sense of immersion, thereby limiting its use in more advanced application scenarios.

[0003] Force feedback technology is a relatively new human-computer interaction technology. When virtual models collide with each other, the virtual force model can construct accurate virtual force and simulate real physical force feedback to the user through force feedback equipment. At present, research on force feedback technology in the fields of medical rehabilitation, virtual surgery, robot path planning, game development, etc. has received increasing attention. As an important bridge connecting the physical world and the virtual world, it not only provides strong technical support for the medical field and robotics technology, but also greatly enriches the experience of human-computer interaction. Traditional virtual force models are mostly based on physical engines. Although they can handle a variety of complex scenarios, they still have shortcomings in computational complexity and real-time performance. Therefore, it is very important to build a high-precision and high-real-time virtual force model. Summary of the invention

[0004] The purpose of the present invention is to provide a virtual feedback force acquisition method based on virtual reality and a corresponding electronic device, so as to improve the accuracy and real-time performance of force feedback in virtual reality.

[0005] Based on the above purpose, the present invention adopts the following technical solution:

[0006] A method for obtaining virtual feedback force based on virtual reality, characterized in that it comprises the following steps:

[0007] S1. Obtaining object information: Obtaining the position information and kinematic data of physical objects through sensor devices;

[0008] S2, forming a proxy point: transferring the physical object position information obtained in step S1 to the virtual environment through data transmission to form a proxy point position;

[0009] S3, calculating the collision contact proxy point: judging whether a collision occurs, and when a collision occurs, obtaining the contact proxy point by the method of finding the extreme point of the Lagrangian function;

[0010] S4, calculating the contact depth; the contact depth is obtained by calculating the distance between the physical object position obtained in step S1 and the contact proxy point position in step S3;

[0011] S5. Calculate virtual feedback force: input the kinematic data of the physical object and the contact depth data obtained in step S4 into the virtual force construction model to obtain the virtual feedback force.

[0012] Preferably, the specific process of calculating the collision contact proxy point in step S3 includes:

[0013] S3.1. Establishing motion vector: When a physical object is moving, the position of the proxy point of the physical object in the virtual environment at this moment is the position of the physical object at the previous moment; connect the position point of the physical object at this moment with the proxy point through a line segment to form a line called L n vector of;

[0014] S3.2. Collision detection: detection of the vector L n Whether the point on the object overlaps with the object constraint plane. If so, it means that a contact collision has occurred;

[0015] S3.3, obtaining constraint plane equation: obtaining the contact plane through the collision detection in step S3.2, and obtaining the collision constraint plane equation;

[0016] S3.4. Calculate the position coordinates of the contact proxy point: establish an expression for the elastic potential energy between the models, and solve it together with the constraint plane equation obtained in step S3.3 to obtain the position coordinates of the contact proxy point.

[0017] Preferably, the specific process of calculating the contact proxy point position coordinates in step S3.4 includes:

[0018] Assume the actual position coordinates of the physical object are (x a ,y a ,z a ), the proxy point position coordinates are (x, y, z), and the elastic coefficient is k, then the elastic potential energy expression of the model is:

[0019]

[0020] The equation of the constraint plane when colliding with the object is:

[0021] A n x+B n y+C n z+D=0;

[0022] In the formula, A n , B n , C n and D are parameters that describe the spatial characteristics of the constraint plane;

[0023] The problem of solving the position of the contact agent point is constructed as a problem of finding the extreme value of the Lagrangian function, and its formula is as follows:

[0024]

[0025] Where l1, l2 and l3 are Lagrange multipliers;

[0026] The solution of the Lagrange function is converted into the Lagrange multiplier method for calculation, and the formula is as follows:

[0027]

[0028] Then the position coordinates of the contact proxy point can be expressed as:

[0029]

[0030] Preferably, the specific process of calculating the contact depth in step S4 includes:

[0031] The contact depth is the modulus of the vector formed between the contact proxy point and the physical object position point, and its formula is:

[0032] δ=|P n -A contact |;

[0033] Where P n is the position of the physical object at a certain moment, A contact For contact agent point.

[0034] Preferably, the specific process of calculating the virtual feedback force in step S5 includes:

[0035] The kinematic data input into the virtual force construction model include the velocity, acceleration and mass of the physical object, and the output is the positive feedback force that simulates real contact; the virtual feedback force includes positive feedback force and friction force. When the physical objects come into sliding contact with each other, the friction force between the two is calculated based on the product of the set friction coefficient and the positive feedback force; for more complex situations, the construction of the virtual feedback force is achieved through the combined force of the positive feedback force and the friction force.

[0036] Preferably, the virtual force construction model is constructed based on an improved mass-spring-damper system, and the virtual force construction model includes a nonlinear spring force model that stores the kinetic energy of the object during the collision process, a nonlinear damping force model that simulates the energy dissipation during the collision process, and an inertial force model that simulates the force during the collision process.

[0037] Preferably, the nonlinear spring force model is linearly related to the strain of the contact body through the change law of the stress on the contact surface, and the pressure at the center of the contact surface with the largest strain is the largest, so the relationship between the spring force model and the contact depth is nonlinear;

[0038] The nonlinear spring force model is mainly used to store kinetic energy during the collision process. It simulates the complexity of the collision process by introducing nonlinear terms (such as F = -kxn, where n≠1); thus, when two objects approach, the repulsive force between them will increase faster as the amount of overlap increases, thereby simulating a stronger nonlinear reaction; since the material is in the elastic stage and obeys Hooke's law, the change law of stress on the contact surface is linearly related to the strain of the contact body, and the pressure is the largest at the center of the contact surface where the strain is the largest; according to the distribution law of compressive stress on the contact surface, the resultant force composed of the surface contact pressure should be equal to the applied load, and the relationship between the contact force and the contact depth is obtained:

[0039] F s = kδ 1.5 ;

[0040] In the formula, F s is the spring force, k is a constant related to material properties and contact geometry, also known as the contact stiffness coefficient, and δ is the contact depth; 1.5 is a nonlinear exponent, which is determined by the relationship between contact force and contact depth during collision obtained by the elastic mechanics method. It determines the nonlinear relationship between contact force and contact depth.

[0041] Preferably, the relationship between the nonlinear damping force model and the contact depth is nonlinear, and the damping coefficient is proportional to the speed; in order to more accurately simulate the energy dissipation during the collision process, the damping coefficient is expressed as a function of the contact depth; in this way, as the contact depth increases, the damping force will also increase accordingly, thereby better reflecting the physical phenomena during the collision process; due to the nonlinear relationship between the spring force and the contact depth mentioned above, the relationship between the damping force and the contact depth is similar, and the damping force model equation is:

[0042]

[0043] In the formula, F d is the damping force, B m is the maximum damping coefficient, δ m is the maximum contact depth, δ is the actual contact depth, and v is the object movement speed.

[0044] Preferably, the inertial force model can be applied to the case where an object collides with an external force. By analyzing the force during the collision process, it can be seen that the superposition of the spring force and the damping force is applicable to the uniform motion of the object. When the object is not colliding with an external force at this time, the force analysis is performed on the object. According to Newton's second law, the inertial force model equation of the object is:

[0045] F m =Ma;

[0046] Where M is the mass of the contact object; a is the acceleration of the object's motion.

[0047] Preferably, the virtual force construction model is suitable for materials that are elastic and obey Hooke's law. When an object collides under the action of an external force, according to the mass-spring-damper model, the rigid body is subjected to the superposition of spring force, damping force and inertia force, and its virtual force model equation is:

[0048]

[0049] In the formula, F n (t) is the positive feedback force.

[0050] An electronic device includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, any step of the above-mentioned method for obtaining virtual feedback force based on virtual reality is implemented.

[0051] The beneficial effects of the present invention include:

[0052] The present invention is based on the traditional mass-spring-damper virtual force model, which has the advantages of simple creation, good real-time performance and fast calculation speed, and is very suitable for model construction of virtual feedback force; the present invention introduces nonlinear terms in the calculation of spring force, damping force and inertial force of the virtual force model, so that the model can more realistically simulate the complex mechanical behavior of the object during the collision process; through the setting of the collision constraint plane, the system can accurately obtain the actual position points and proxy position points of the physical object and the virtual environment, so as to effectively detect the collision and calculate the contact depth, and consider the influence of friction in the case of sliding contact, so that the force feedback is closer to reality.

[0053] The spring force model of the present invention realizes the simulation of the strong nonlinear reaction when the objects come into contact by introducing the nonlinear spring coefficient; the damping force model accurately simulates the energy dissipation in the collision process by associating the damping coefficient with the contact depth; the inertial force model combines Newton's second law and takes into account the inertial effect of the object under uniform motion, thus ensuring the accuracy and stability of the virtual force feedback model under various motion states. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 A virtual force construction model based on an improved mass-spring-damper system in Embodiment 1 of the present invention;

[0055] Figure 2 Schematic diagram of contact force calculation in Example 1 of the present invention;

[0056] Figure 3 This is a flow chart of the force feedback calculation method in Embodiment 2 of the present invention. DETAILED DESCRIPTION

[0057] Example 1

[0058] The following is a combination of specific embodiments to further explain the present invention. Figure 1 A virtual force model is constructed based on an improved mass-spring-damper system, including spring and damper devices. When a virtual object moves from an initial position to the surface of an object, the kinetic energy will be converted into elastic potential energy of the spring under the action of the spring on the surface of the object, and the energy loss in the collision process will be simulated under the action of the damper.

[0059] When the object moves to a certain distance, the kinetic energy of the object is zero, and the object rebounds under the action of the spring; the positive feedback force can be obtained by calculating the combined force of the spring force, damping force and inertia force in this process; this model is based on the traditional mass-spring-damper virtual force modeling. Since contact collision belongs to the category of elastic mechanics, the establishment of a virtual force feedback model first requires the establishment of an elastic model.

[0060] The boundary of the virtual object is represented by a mesh surface. The force between the nodes in the mesh is a linear elastic force. The viscoelastic characteristics of the object are simulated by adding a damping force related to the node velocity. In a dynamic system, the motion of each node with mass obeys Newton's second law:

[0061]

[0062] Among them, m represents the mass of the node; x represents the displacement vector of the node; b represents the damping coefficient related to the velocity; p represents the interaction force between adjacent mass points; and f represents the external force acting on the node.

[0063] It can be concluded that the motion balance of the entire system is essentially a collection of dynamic equilibrium conditions of each mass point in the grid. Therefore, the virtual force model uses the mass-spring-damper model, which is a classic dynamic system model used to describe the behavior of a system composed of mass, spring and damper. Its basic equation is:

[0064]

[0065] Among them, M, B and K represent the mass of the particle, the damping coefficient and the spring coefficient of the system respectively, and x and t represent the displacement and time respectively.

[0066] In this embodiment, the virtual force construction model based on the improved mass-spring-damper system includes three parts: a spring force model, a damping force model, and an inertial force model. The construction process of the spring force model is as follows:

[0067] The spring force model is an important component of the virtual force model, which is mainly used to store kinetic energy during the collision process. Through mechanical analysis of the collision process of objects, it can be found that it is difficult to determine which points are in contact with the boundary during the contact process of the objects, and the action area is constantly changing. This uncertainty makes it difficult to describe the collision process with a simple linear model; in this process, the stress-strain relationship of the material is often nonlinear, which increases the complexity of the collision process; therefore, in the spring force model, we can simulate a more complex force-displacement relationship by introducing nonlinear terms (such as F = -kxn, where n≠1); in this way, when two objects approach, the repulsive force between them will increase faster as the amount of overlap increases, thereby simulating a stronger nonlinear reaction.

[0068] Figure 2 It is an elastic force calculation principle diagram of the present invention that reveals the relationship between contact force and contact depth when objects collide. Through the elastic mechanics method, it can be known that when objects collide, the contact surface of the point contact object is an ellipse after the force is applied, and the contact surface of the line contact object is a rectangle after the force is applied, and the deformation of the two contacting objects meets the deformation continuity condition; because the material is in the elastic stage and obeys Hooke's law, the change law of the stress on the contact surface is linearly related to the strain of the contact body, and the compressive stress is the largest at the center of the contact surface with the largest strain.

[0069] pass Figure 2 It can be seen that M and N are the points where the two objects come into contact, and z1 and z2 are the displacements generated when the two contacting objects are deformed. According to mathematical geometry, we can know that:

[0070]

[0071] Since the deformation of the objects when they come into contact is very small, z1 and z2 tend to 0 at this time, and we can get:

[0072]

[0073] Let w1 represent the displacement of point M on object 1 along the z1 axis due to local deformation, w2 represent the displacement of point N on object 2 along the z2 axis due to local deformation, and the distance between the centers O1 and O2 of the two objects is δ. Then we can get:

[0074] δ=z1+z2+w1+w2

[0075] but:

[0076] w1+w2=δ-(z1+z2)=δ-βr 2

[0077] in:

[0078]

[0079] According to the basic differential equation of spatial axisymmetry, we can get:

[0080]

[0081] Where μ is the elastic coefficient, E is the elastic modulus, q is the pressure generated during contact, and ds·dφ is the differential of the contact area; then:

[0082] w=K∫∫q·ds·dφ

[0083] in:

[0084]

[0085] By combining the above formulas, we can get:

[0086] (K1+K2)∫∫q·ds·dφ=δ-βr 2

[0087] According to the distribution law of compressive stress on the contact surface, the resultant force of the surface contact pressure should be equal to the external load. The pressure distribution in the contact area is hemispherical. Therefore, the pressure at the contact center is the largest and is distributed at the contact center O. a is the radius of the contact circle. Integrating the above integral expression yields:

[0088]

[0089] Since the objects undergo small deformation when in contact, r tends to 0, then:

[0090]

[0091] Combining the above formulas, we can get:

[0092]

[0093] but

[0094]

[0095] From the above formula, we can see that as the contact pressure increases, the contact area also increases, resulting in a slow increase in the deformation of the contact surface. Therefore, we can see that the contact pressure and the contact surface deformation have a nonlinear relationship. From this, we can get the relationship between the contact force and the contact depth:

[0096] F s = kδ 1.5

[0097] In the formula, F s is the spring force, k is a constant related to material properties and contact geometry, also known as the contact stiffness coefficient, and δ is the contact depth; 1.5 is a nonlinear exponent, which is determined by the relationship between contact force and contact depth during collision obtained by the elastic mechanics method. It determines the nonlinear relationship between contact force and contact depth.

[0098] The damping force model is used to simulate the energy loss during a collision, and the damping force is usually related to the velocity of the object. The collision damping coefficient reflects the rate at which energy is dissipated during a collision; it is usually related to the stiffness of the spring, the damping properties of the material, and the collision velocity; since the spring stiffness directly affects the elastic force during a collision, it may also indirectly affect the damping force, because a stiffer spring may allow faster energy transfer and dissipation; the damping coefficient may also be related to the collision velocity, because high-speed collisions may result in more violent energy dissipation; however, this relationship may not be linear and may be affected by other factors; during a collision, the damping force may increase as the contact depth increases, because more material is involved in the collision and deforms.

[0099] Furthermore, in order to more accurately simulate the energy dissipation during the collision, the damping coefficient can be expressed as a function of the contact depth; in this way, as the contact depth increases, the damping force will also increase accordingly, thereby better reflecting the physical phenomena during the collision; due to the nonlinear relationship between the spring force and the contact depth mentioned above, the relationship between the damping force and the contact depth is similar. The magnitude of the damping force is:

[0100]

[0101] In the formula, F d is the damping force, B m is the maximum damping coefficient, δ m is the maximum contact depth, δ is the actual contact depth, and v is the object movement speed.

[0102] The inertial force model is used for the force on an object. The superposition of the spring force model and the damping force model is applicable to the uniform motion of an object. When an object is acted upon by an external force but no collision occurs, the force analysis is performed on the object. According to Newton's second law, the magnitude of the force on the object is:

[0103] F m=Ma

[0104] According to the above steps, this embodiment constructs a virtual force model based on an improved mass-spring-damper system; the relationship between the kinematics of the object and the contact force when the object contacts is deeply studied, and the nonlinear relationship between the spring force and the contact depth, and the nonlinear relationship between the damping force and the speed in the virtual force model are successfully revealed through a systematic analysis of the spring force, the damping force and the inertia force; when the object collides under the action of an external force, according to the mass-spring-damper model, the objects are affected by the spring force, the damping force and the inertia force at this time, so the improved virtual force feedback model is:

[0105]

[0106] Where M is the mass of the contact object; a is the acceleration of the object; B m is the maximum damping coefficient of the contact object; δ is the contact depth; δ m is the maximum contact depth; v is the speed of the object; K is the elastic coefficient of the contact object.

[0107] Example 2

[0108] This embodiment is a method for obtaining virtual feedback force based on the virtual force construction model in Embodiment 1. Figure 3 As shown, the following steps are included:

[0109] S1. Obtain object information: Obtain the position information of the physical object through the sensor device, and record the position point of the physical object at a certain moment as P n .

[0110] S2, forming a proxy point: the physical object position information obtained in step S1 is transferred to the virtual environment through data transmission to form a proxy point position; at this time, the proxy point position of the physical object in the sludge environment is the position of the physical object at the previous moment, recorded as A n .

[0111] S3. Calculate the collision contact proxy point: When a collision occurs, the contact proxy point is obtained by using the method of finding the extreme point of the Lagrangian function; the specific process of calculating the collision contact proxy point includes:

[0112] S3.1. Establishing motion vector: When a physical object is moving, the position of the proxy point of the physical object in the virtual environment at this moment is the position of the physical object at the previous moment; connect the position point of the physical object at this moment with the proxy point through a line segment to form a line called L n Vector.

[0113] S3.2. Collision detection: detection of the vector L nWhether the point on the object overlaps with the object's constraint plane, if so, it means a contact collision has occurred.

[0114] S3.3, obtain constraint plane equation: obtain the contact plane through the collision detection in step S3.2, and obtain the collision constraint plane equation:

[0115] Assume the actual position coordinates of the physical object are (x a ,y a ,z a ), the proxy point position coordinates are (x, y, z), and the elastic coefficient is k, then the elastic potential energy expression of the model is:

[0116]

[0117] The equation of the constraint plane when colliding with the object is:

[0118] A n x+B n y+C n z+D=0;

[0119] In the formula, A n , B n , C n and D are parameters that describe the spatial characteristics of the constraint plane.

[0120] S3.4. Calculate the position coordinates of the contact proxy point: Establish a model to construct an elastic potential energy expression, and solve it together with the constraint plane equation obtained in step S3.3 to obtain the position coordinates of the contact proxy point:

[0121] The problem of solving the position of the contact agent point is constructed as a problem of finding the extreme value of the Lagrangian function, and its formula is as follows:

[0122]

[0123] Where l1, l2 and l3 are Lagrange multipliers;

[0124] The solution of the Lagrange function is converted into the Lagrange multiplier method for calculation, and the formula is as follows:

[0125]

[0126] Then the position coordinates of the contact proxy point can be expressed as:

[0127]

[0128] S4, calculating the contact depth; the contact depth is obtained by calculating the distance between the physical object position obtained in step S1 and the contact proxy point position in step S3; the contact depth is the modulus length of the vector formed between the contact proxy point and the physical object position point, and its formula is:

[0129] δ=|P n -A contact |;

[0130] Where P n is the position of the physical object at a certain moment, A contact For contact agent point.

[0131] S5. Calculate virtual feedback force: input the contact depth data obtained in step S4 into the virtual force construction model to obtain virtual feedback force; virtual feedback force includes calculation of positive feedback force and friction force; when physical objects come into sliding contact with each other, calculate the friction force between the two, and calculate the friction force according to the product of the set friction coefficient and the positive feedback force; the magnitude of the friction force is:

[0132] f=F n *μ

[0133] In the formula, F n is the positive feedback force, μ is the friction coefficient.

[0134] For more complex situations, the virtual feedback force is constructed by the combined force of positive feedback force and friction force; the positive feedback force is obtained by the virtual force feedback model, such as Figure 1 As shown, by synthesizing the positive feedback force and the friction force, the virtual force when the object comes into contact can be obtained; the magnitude of the virtual force on the object is:

[0135] F=F n +f

[0136] In the formula, F n is the positive feedback force, and f is the friction force.

[0137] The above description is only a further explanation of the present invention in combination with specific embodiments. All descriptions do not limit the scope of protection of the present invention. Any changes or replacement schemes that can be easily thought of by any technician in this field within the technical scope disclosed by the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A method for obtaining virtual feedback force based on virtual reality, characterized in that: The following steps are involved: S1. Obtaining object information: Obtaining the position information and kinematic data of physical objects through sensor devices; S2, forming a proxy point: transferring the physical object position information obtained in step S1 to the virtual environment through data transmission to form a proxy point position; S3, calculating the collision contact proxy point: judging whether a collision occurs, and when a collision occurs, obtaining the contact proxy point by the method of finding the extreme point of the Lagrangian function; S4, calculating the contact depth; the contact depth is obtained by calculating the distance between the physical object position obtained in step S1 and the contact proxy point position in step S3; S5. Calculate virtual feedback force: input the kinematic data of the physical object and the contact depth data obtained in step S4 into the virtual force construction model to obtain the virtual feedback force.

2. The method for obtaining virtual feedback force according to claim 1, characterized in that: The specific process of calculating the collision contact proxy point in step S3 includes: S3.

1. Establishing motion vector: When a physical object is moving, the position of the proxy point of the physical object in the virtual environment at this moment is the position of the physical object at the previous moment; the position point of the physical object at this moment is connected to the proxy point through a line segment to form a line called L n vector of; S3.

2. Collision detection: detection of vector L n Whether the point on the object overlaps with the object constraint plane. If so, it means that a contact collision has occurred; S3.3, obtaining constraint plane equation: obtaining the contact plane through the collision detection in step S3.2, and obtaining the collision constraint plane equation; S3.

4. Calculate the position coordinates of the contact proxy point: establish an expression for the elastic potential energy between the models, and solve it together with the constraint plane equation obtained in step S3.3 to obtain the position coordinates of the contact proxy point.

3. The method for obtaining virtual feedback force according to claim 1, characterized in that: The specific process of calculating the contact depth in step S4 includes: The contact depth is the modulus of the vector formed between the contact proxy point and the physical object position point, and its formula is: δ=|P n -A contact |; Where P n is the position of the physical object at a certain moment, A contact For contact agent point.

4. The method for obtaining virtual feedback force according to claim 1, characterized in that: The specific process of calculating the virtual feedback force in step S5 includes: The kinematic data input into the virtual force construction model include the velocity, acceleration and mass of the physical object, and the output is the positive feedback force simulating the real contact; the virtual feedback force includes positive feedback force and friction force. When the physical objects are in sliding contact with each other, the friction force between the two is calculated based on the product of the set friction coefficient and the positive feedback force; for more complex situations, the construction of the virtual feedback force is achieved through the combined force of the positive feedback force and the friction force.

5. The method for obtaining virtual feedback force according to any one of claims 1 to 4, characterized in that: The virtual force construction model is constructed based on an improved mass-spring-damper system, and the virtual force construction model includes a nonlinear spring force model for storing kinetic energy of an object during a collision, a nonlinear damping force model for simulating energy dissipation during a collision, and an inertial force model for simulating forces during a collision.

6. The method for obtaining virtual feedback force according to claim 5, characterized in that: The nonlinear spring force model is linearly related to the strain of the contact body through the change law of stress on the contact surface. The central pressure of the contact surface with the largest strain is the largest, and the relationship between the spring force model and the contact depth is nonlinear. The spring force model equation is: F s =kδ 1.5 ; In the formula, F s is the spring force, k is the contact stiffness coefficient, and δ is the contact depth.

7. The method for obtaining virtual feedback force according to claim 6, characterized in that: The nonlinear damping force model has a nonlinear relationship with the contact depth, and is proportional to the damping coefficient and the speed; the damping force model equation is: In the formula, F d is the damping force, B m is the maximum damping coefficient, δ m is the maximum contact depth, δ is the actual contact depth, and v is the object movement speed.

8. The method for obtaining virtual feedback force according to claim 7, characterized in that: The inertial force model can be applied to the case where an object collides with an external force. The inertial force model equation is: F m =On; Where M is the mass of the contact object; a is the acceleration of the object's motion.

9. The method for obtaining virtual feedback force according to claim 8, characterized in that: The virtual force construction model is suitable for materials with elasticity and obeying Hooke's law, and its virtual force model equation is: In the formula, F n (t) is the positive feedback force.

10. An electronic device comprising a memory and a processor, wherein a computer program is stored in the memory, wherein: When the processor executes the computer program, any step of the method for acquiring virtual feedback force based on virtual reality as described in any one of claims 1 to 9 is implemented.

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