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首页> 外文期刊>IEEE transactions on visualization and computer graphics >Realistic haptic rendering of interacting deformable objects in virtual environments
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Realistic haptic rendering of interacting deformable objects in virtual environments

机译：虚拟环境中交互变形对象的逼真的触觉渲染

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摘要

A new computer haptics algorithm to be used in general interactive manipulations of deformable virtual objects is presented. In multimodal interactive simulations, haptic feedback computation often comes from contact forces. Subsequently, the fidelity of haptic rendering depends significantly on contact space modeling. Contact and friction laws between deformable models are often simplified in up to date methods. They do not allow a "realistic" rendering of the subtleties of contact space physical phenomena (such as slip and stick effects due to friction or mechanical coupling between contacts). In this paper, we use Signorini's contact law and Coulomb's friction law as a computer haptics basis. Real-time performance is made possible thanks to a linearization of the behavior in the contact space, formulated as the so-called Delassus operator, and iteratively solved by a Gauss-Seidel type algorithm. Dynamic deformation uses corotational global formulation to obtain the Delassus operator in which the mass and stiffness ratio are dissociated from the simulation time step. This last point is crucial to keep stable haptic feedback. This global approach has been packaged, implemented, and tested. Stable and realistic 6D haptic feedback is demonstrated through a clipping task experiment.
机译：提出了一种新的计算机触觉算法，用于可变形虚拟对象的一般交互操作。在多模式交互模拟中，触觉反馈计算通常来自接触力。随后，触觉渲染的逼真度在很大程度上取决于接触空间建模。变形模型之间的接触和摩擦定律通常通过最新方法来简化。它们不允许对触点空间物理现象（例如由于触点之间的摩擦或机械耦合导致的滑移和粘滞效应）的“微妙”渲染“现实”。在本文中，我们使用Signorini的接触定律和Coulomb的摩擦定律作为计算机触觉的基础。由于接触空间中行为的线性化，因此可以实现实时性能，该行为被公式化为所谓的Delassus运算符，并通过高斯-赛德尔类型算法迭代求解。动态变形使用整形整体公式来获得Delassus算子，在该算子中，质量和刚度比与仿真时间步长无关。最后一点对于保持稳定的触觉反馈至关重要。此全局方法已打包，实施和测试。通过裁剪任务实验证明了稳定逼真的6D触觉反馈。

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