基于改进弹簧质点模型的虚拟织物触觉生成
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摘要
提出了一种基于改进弹簧质点模型的虚拟织物触觉生成方法,实现了一个虚拟织物实时变形及触觉反馈的原型系统。我们采用改进的弹簧质点模型模拟虚拟织物的拉伸、弯曲和剪切等性能,建立并求解虚拟织物的位移方程,实现虚拟织物的实时形变。建立按压和滑动的点接触模型,我们实时求得虚拟探针触摸虚拟织物时的作用力,并通过PHANToM力反馈装置反馈给操作者。实验结果表明,该原型系统能让用户在触摸、按压或牵扯虚拟织物时,既能观察到虚拟织物的逼真变形,又能感受到虚拟织物的手感。
A method for virtual fabric tactile generation was proposed based on an improved mass-spring model, and a virtual fabric tactile feedback prototype system was developed, which realized the real-time deformation and tactile feedback of the virtual fabric. By the improved mass-spring model, the expanding,bending and cutting performances of the virtual fabric could be simulated. The kinematic equations of the virtual fabric for simulating its deformation were established. By a contact force model, the action force between the virtual probe and virtual fabric was obtained. The operator could feel the action force by the PHANToM device.
A method for virtual fabric tactile generation was proposed based on an improved mass-spring model, and a virtual fabric tactile feedback prototype system was developed, which realized the real-time deformation and tactile feedback of the virtual fabric. By the improved mass-spring model, the expanding,bending and cutting performances of the virtual fabric could be simulated. The kinematic equations of the virtual fabric for simulating its deformation were established. By a contact force model, the action force between the virtual probe and virtual fabric was obtained. The operator could feel the action force by the PHANToM device.
引文
[1]张吉帅,陈辉,吴雯,王平安.实时多组织虚拟手术的反馈力模拟[J].计算机辅助设计与图形学学报,2010,22(2):216-225.
[2]吴娟,宋爱国,李建清.用于虚拟力觉再现的弹簧-质点力/变形模型研究[J].系统仿真学报,2006,18(11):3152-3156.(WU Juan,SONG Ai-guo,LI Jian-qing.Research on Mass-spring Force/Deformation Modeling for Haptic Display[J].Journal of System Simulation(S1004-731X),2006,18(11):3152-3156.)
[3]张庆丰,乐清洪,马泽恩.织物变形的物理仿真技术[J].计算机辅助设计与图形学学报,2001,13(5):449-454.
[4]J Weil.The synthesis of cloth objects[J].Computer Graphics(S1077-2626),1986,20(4):49-54.
[5]D Terzopoulos,A Witkin.Physically-based models with rigid and deformable components[J].IEEE Computer Graphics and Applications(S0272-1716),1988,8(6):41-51.
[6]P Volino,P Davy,U Bonanni,N Magnenat-Thalmann,G B ttcher,D Allerkamp,F-E Wolter.From measured physical parameters to the haptic feeling of fabric[J].The Visual Computer:International Journal of Computer Graphics(S0178-2789),2007,23(2):14-18.
[7]D Breen,D House,M J Wozny.A particle based model for simulating the draping behavior of woven cloth[J].Textile Research Journal(S0975-3486),1994,64(11):663-685.
[8]Huamin Wang,James F O’Brien,Ravi Ramamoorthi.Data-Driven Elastic Models for Cloth:Modeling and Measurement[J].ACM Transactions on Graphics(S7300-0301),2011,30(4):71:1-71.
[9]B ttcher Guido,Allerkamp Dennis,Gl ckner Daniel,Wolter FranzErich.Haptic two-finger contact with textiles[J].Visual Computer(S1782-2789),2008,24(10):911-922.
[10]G Huang,D Metaxas,M Govindaraj.Feel the“Fabric”:An Audio-Haptic Interface[C]//Eurographics/SIGGRAPH Symposium on Computer Animation.USA:ACM,2003:52-60.
[11]Zilles C,Salisbury J K.A constraint-based god-object method for haptic display[C]//IEEE/RSJ Int’l Conf.Washington DC,USA:IEEE CS Press,1995:146-151.
[2]吴娟,宋爱国,李建清.用于虚拟力觉再现的弹簧-质点力/变形模型研究[J].系统仿真学报,2006,18(11):3152-3156.(WU Juan,SONG Ai-guo,LI Jian-qing.Research on Mass-spring Force/Deformation Modeling for Haptic Display[J].Journal of System Simulation(S1004-731X),2006,18(11):3152-3156.)
[3]张庆丰,乐清洪,马泽恩.织物变形的物理仿真技术[J].计算机辅助设计与图形学学报,2001,13(5):449-454.
[4]J Weil.The synthesis of cloth objects[J].Computer Graphics(S1077-2626),1986,20(4):49-54.
[5]D Terzopoulos,A Witkin.Physically-based models with rigid and deformable components[J].IEEE Computer Graphics and Applications(S0272-1716),1988,8(6):41-51.
[6]P Volino,P Davy,U Bonanni,N Magnenat-Thalmann,G B ttcher,D Allerkamp,F-E Wolter.From measured physical parameters to the haptic feeling of fabric[J].The Visual Computer:International Journal of Computer Graphics(S0178-2789),2007,23(2):14-18.
[7]D Breen,D House,M J Wozny.A particle based model for simulating the draping behavior of woven cloth[J].Textile Research Journal(S0975-3486),1994,64(11):663-685.
[8]Huamin Wang,James F O’Brien,Ravi Ramamoorthi.Data-Driven Elastic Models for Cloth:Modeling and Measurement[J].ACM Transactions on Graphics(S7300-0301),2011,30(4):71:1-71.
[9]B ttcher Guido,Allerkamp Dennis,Gl ckner Daniel,Wolter FranzErich.Haptic two-finger contact with textiles[J].Visual Computer(S1782-2789),2008,24(10):911-922.
[10]G Huang,D Metaxas,M Govindaraj.Feel the“Fabric”:An Audio-Haptic Interface[C]//Eurographics/SIGGRAPH Symposium on Computer Animation.USA:ACM,2003:52-60.
[11]Zilles C,Salisbury J K.A constraint-based god-object method for haptic display[C]//IEEE/RSJ Int’l Conf.Washington DC,USA:IEEE CS Press,1995:146-151.