计算机触觉虚拟现实环境的力触觉建模和生成.PDFVIP

第 28 卷 第 6 期 计算机辅助设计与图形学学报 Vol. 28 No.6 2016 年 6 月 Journal of Computer-Aided Design Computer Graphics Jun. 2016 计算机触觉: 虚拟现实环境的力触觉建模和生成 王党校, 焦 健, 张玉茹, 赵晓含 (北京航空航天大学虚拟现实技术与系统国家重点实验室 北京 100191) (hapticwang@) 摘 要: 触觉是人类 5 种感觉通道之一, 在日常生活中发挥着不可缺少的作用. 在虚拟现实和增强现实系统中, 力触 觉反馈的引入有望显著提高人机交互的沉浸感和交互性. 文中综述了虚拟现实环境中力触觉感受的建模和生成方法, 从力触觉生成与视觉生成的差异性出发, 回顾了计算机触觉的发展历史和国内外研究现状, 重点分析了虚拟物体建 模、碰撞检测、碰撞响应???变形计算等关键技术, 并提出了力触觉生成技术的未来发展趋势和技术挑战. 关键词：计算机触觉; 虚拟现实; 力触觉建模; 力触觉生成; 人机交互 中图法分类号：TP391.41 Computer Haptics: Haptic Modeling and Rendering in Virtual Reality Environments Wang Dangxiao, Jiao Jian, Zhang Yuru, and Zhao Xiaohan (State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, Beijing 100191) Abstract: The haptic channel is one of the five sensory channels of human. It plays an indispensable role in eve- ryday life. In the virtual reality and augmented reality systems, the haptic feedback is expected to significantly improve immersion and interactivity of human-computer interaction (HCI). This paper reviews the haptic model- ing and rendering technologies in virtual reality environments. From the perspective of the haptic and visual ren- dering differences, we summarize the history and current situation of research in the haptic field, and analyze the key technology of virtual object modeling, collision detection, collision response, force/torque computation and so on. Finally, we propose trends and future research challenges in haptic rendering. Key words: computer haptics; virtual reality; haptic modeling; haptic rendering; human-computer interaction 触觉是人类 5 种感觉通道之首, 也被誉为人的 只具备视觉和听觉这两方面的信息功能, 而由于 感觉之母, 是人类与外部世界进行信息交互的基 在触/力觉方面的显示能力不足,