[1]崔桐,宋爱国,吴涓.一种用于力觉再现的柔性体变形仿真弹簧-质点模型[J].东南大学学报(自然科学版),2007,37(5):849-852.[doi:10.3969/j.issn.1001-0505.2007.05.022]
 Cui Tong,Song Aiguo,Wu Juan.Efficient model for haptic display of flexible object deformation using mass-spring systems[J].Journal of Southeast University (Natural Science Edition),2007,37(5):849-852.[doi:10.3969/j.issn.1001-0505.2007.05.022]
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一种用于力觉再现的柔性体变形仿真弹簧-质点模型()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
37
期数:
2007年第5期
页码:
849-852
栏目:
计算机科学与工程
出版日期:
2007-09-20

文章信息/Info

Title:
Efficient model for haptic display of flexible object deformation using mass-spring systems
作者:
崔桐 宋爱国 吴涓
东南大学仪器科学与工程学院, 南京 210096
Author(s):
Cui Tong Song Aiguo Wu Juan
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
关键词:
弹簧-质点模型 虚拟现实 力反馈
Keywords:
mass-spring model virtual reality force feedback
分类号:
TP391
DOI:
10.3969/j.issn.1001-0505.2007.05.022
摘要:
提出一种新型的在虚拟现实中可实现的弹簧-质点力/变形模型.它按质点连接顺序划分层次,以受力网格为第1层,构建类似同心环状的弹簧-质点系统.施力刚体以点接触的方式与柔性体进行力交互作用.运用虚功原理,结合施力刚体与受力柔性体组成的系统中虚拟力和质点位移的关系,区别于以往对局部变形的研究,对柔性体进行全局变形分析.柔性体变形是整个柔性体表面质点在力平衡条件下位移变化累加的结果.利用DELTA 手控器对柔性体的接触变形以及实时虚拟力反馈进行仿真,实验表明所提出的方法适用于柔性体的力反馈计算,满足精细作业对虚拟现实系统的要求.
Abstract:
An improved discrete mass-spring model is proposed for modeling of flexible object deformation, and its surface is divided radially along force mesh named the first hierarchy. The mass-spring system is composed of nodes connected with radially distributed springs. The interaction between rigid object and flexible object is performed by the point contact. Using theory of virtual work, the relations between virtual force and displacements of mass are analyzed to get whole flexible object deformation in the visual system instead of some usual local analyses. Visual object deformation is simulated by computing nodal deformation based on force equation at each mesh node in the surface. Using this model, the flexible object deformation is simulated, and synchronously the real-time virtual contact force is provided with DELTA haptic device.

参考文献/References:

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[3] Popescu V,Burdea G,Bouzit M,et al.A virtual-reality-based telerehabilitation system with force feed-back[J]. IEEE Transactions on Information Technology in Bio-medicine,2000,4(1):45-51.
[4] Luciano C,Banerjee P,Methrotra S,et al.A framework for efficient and more realistic haptic application[C] //Proceedings of the 23rd ASME International 2003 CIE.Chicago,Iuinois,USA,2003:1-6.
[5] Chen P,Barner K E,Steiner K V.A dynamic mass-spring deformable model for soft tissue simulations with haptic feedback[C] //Proc Medicine Meets Virtual Reality.Long Beach,California,USA,2006:499-505.
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备注/Memo

备注/Memo:
基金项目: 国家重大基础研究发展计划(973计划)资助项目(2002CB312102)、国家自然科学基金资助项目(60643007)、2007江苏省研究生科研创新计划资助项目.
作者简介: 崔桐(1981—),男,博士生; 宋爱国(联系人),男,博士,教授,博士生导师,a.g.song@seu.edu.cn.
更新日期/Last Update: 2007-09-20