The invention relates to a virtual hand grasping
perception and
exoskeleton force feedback mapping method based on virtual-real interaction, and belongs to the technical field of
virtual reality, the method comprises the following steps: building a hand
exoskeleton, and reading joint data in real time; calculating the
pose of each
joint coordinate system of the virtual hand relative to the
virtual world; according to the calculated poses of all the joints of the virtual hand, the virtual hand is driven to synchronously move with the hand
exoskeleton in real time; collision and contact events of the virtual hand and the
digital object are monitored in real time, and
virtual interaction force generated when the virtual hand interacts with the
digital object is calculated; calculating feedback torque required to be output by each hand exoskeleton motor of the hand exoskeleton, and driving the motors to output corresponding feedback force through a
motor controller of the hand exoskeleton, so as to realize force feedback of the hand. According to the method, the interaction reality sense in the
virtual reality application can be enhanced, the user can interact with the virtual environment more naturally in an immersive mode, and the user experience is improved.