CN101901565B - Virtual flexible body deformation operation simulation system supporting haptic feedback - Google Patents

Abstract

The invention discloses a virtual flexible body deformation operation simulation system supporting haptic feedback. The system is characterized by adopting a novel physical significance-based equal pitch conical helical spring haptic modelling method, wherein in the method, the superposition of the sum of the deflection of each layer of equal pitch conical helical spring is externally equal to the deformation on the surface of a flexible body; and the sum of the consumed external force when each layer of equal pitch conical helical spring which is connected with adjacent layer of equal pitch conical helical spring initially contacts is equal to a given virtual contact force of a given surface of the flexible body. The modelling method is simple; the deformation calculating process is simple and convenient; and higher precision of deformation simulation can be guaranteed. The system can better simulate virtual deformation simulation when a virtual agent presses the flexible body and can make operators actually sense haptic information in a simulation process in real time in an interactive process.

Description

The virtual flexible body deformation operation simulation system of holding power tactile feedback

Technical field

The present invention relates to a kind of virtual flexible body operation simulation system of holding power tactile feedback, belong to the virtual reality human-computer interaction field.

Background technology

With the develop rapidly of putting forth effort the sense of touch human-computer interaction technology, increasing researchist is applied to power haptic interaction equipment in the virtual operation, make the doctor not only can see in the simulation process and can be undertaken alternately by motion and virtual flexible body with arm in operation, thereby form a complete understanding to the virtual operation environment, and can be as the operation real-world object, the power tactile data that produces when experiencing with the virtual objects real-time, interactive truly, this can make operative training more true to nature, accurate, reliable undoubtedly.

The organ or tissue of human body mostly is flexible body, and the flexible body of human body has that blood flow is abundant, vascular distribution is intensive, the special complexity of structure, characteristics that operating difficulty is high, and traditional imaging examination provided mostly is two-dimensional image, can't utilize operating theater instruments to carry out operation emulation in advance, more can't experience real-time power tactile feedback in advance, this has certain blindness and unreliability for some complicated operations.In order effectively to reduce the training cost, improve success rate of operation, this paper has designed and Implemented a kind of virtual flexible body deformation simulation system of holding power tactile feedback, and it can be simulated virtual protocol flexible body carried out emulation by compressive strain.

Summary of the invention

The present invention proposes a kind of virtual flexible body operation simulation system of holding power tactile feedback, and uses it for the flexible body deformation simulation of virtual reality human-computer interaction.This system force tactile sensation is steady, simulate effect is true to nature, can satisfy the requirement of virtual reality system to fine manipulation and real-time.

The present invention adopts following technical scheme:

A kind of power tactile feedback analogue system of virtual flexible body, comprise: main frame and power haptic interaction equipment, on main frame, be connected with display, described main frame comprises hard disk and 1394 cards at least, it is characterized in that, described hard disk comprises at least: the position detecting module that is used to detect the virtual protocol position, be used to detect the collision detection module whether virtual protocol and virtual flexible body bump, deformation module is calculated in the power sense of touch, calculate the figure refresh module and the power tactile data feedback module of the up-to-date power sense of touch deformation information that deformation module sends according to the power sense of touch, described hard disk is connected with power haptic interaction equipment by 1394 cards and 1394 connecting lines, the deformation information that is used for the power sense of touch is calculated the flexible body surface that deformation module produces transfers to power haptic interaction equipment

Described power sense of touch is calculated deformation module 243 and is used for when virtual protocol and virtual flexible body bump with given virtual contact force F, under the point of impingement, hang first etc. the pitch tapered coil spring, form ground floor, the spring wire diameter of pitch tapered coil springs such as described ground floor is d ₁, the great circle radius is R _1,2, the ringlet radius is R _1,1, pitch is t ₁, great circle radius side bearing number of turns n _{1, s2}Value is 0.5, ringlet radius side bearing number of turns n _{1, s1}Value is 0.25, number of active coils n ₁Value is 2; Ground floor etc. under the pitch tapered coil spring, hang pitch tapered coil spring such as second, form the second layer, the spring wire diameter of pitch tapered coil springs such as the described second layer is d ₁Q, great circle radius are R _1,2Q, ringlet radius are R _1,1Q, pitch are t ₁Q, great circle radius side bearing number of turns n _{2, s2}Value is 0.5, ringlet radius side bearing number of turns n _{2, s1}Value is 0.25, number of active coils n ₂Value is 2; The second layer etc. under the pitch tapered coil spring, hang pitch tapered coil spring such as the 3rd, form the 3rd layer, the spring wire diameter of pitch tapered coil spring such as described the 3rd layer is d ₁q ², the great circle radius is R _1,2q ², the ringlet radius is R _1,1q ², pitch is t ₁q ², great circle radius side bearing number of turns n _{3, s2}Value is 0.5, ringlet radius side bearing number of turns n _{3, s1}Value is 0.25, number of active coils n ₃Value is 2; And the like, the i-1 layer etc. under the pitch tapered coil spring, hang pitch tapered coil spring such as i, form the i layer, the spring wire diameter of pitch tapered coil springs such as described i layer is d ₁q ^I-1, the great circle radius is R _1,2q ^I-1, the ringlet radius is R _1,1q ^I-1, pitch is t ₁q ^I-1, great circle radius side bearing number of turns n _{I, s2}Value is 0.5, ringlet radius side bearing number of turns n _{I, s1}Value is 0.25, number of active coils n _iValue is 2, forms the i layer, i=1, and 2,3 ..., N, N are natural number;

The active line of supposing virtual contact force F is consistent with the volute spring center line, and under virtual contact force F effect, only produce linear deformation when beginning to contact etc. the pitch tapered coil spring, if total M layer produces distortion in the flexible body, then the M layer is called the distortion cutoff layer, wherein preceding M-1 layer etc. the maximum linear length of pitch tapered coil spring distortion when all being compressed to spring and beginning to contact, the maximum linear length of distortion when the compressed length of the spring of M layer is not more than spring and begins to contact;

For the i layer etc. the pitch tapered coil spring, because of it satisfies:

R _i，2-R _i，1＜n _i·d _i (1)

So the i layer etc. the external force F that consumes when beginning to contact of pitch tapered coil spring _{I, z}Be expressed as:

$F_{i,z}=\frac{G{d}_i^4}{64R_{i,2}^3}(t_i-d_i^{\′})---\left(2\right)$

Wherein, t _i, d ' _iBe respectively the i layer etc. the pitch, spring of pitch tapered coil spring press and the hour circle between centre-height, its size satisfies:

$d_i^{\′}=d_i\sqrt{1-{\left(\frac{R_{i,2}-R_{i,1}}{n_i\·d_i}\right)}^2}---\left(3\right)$

Before in the M-1 layer any i layer etc. the linear deformation X of pitch tapered coil spring when beginning to contact _{I, z}For:

$X_{i,z}=\frac{n_i}{R_{i,2}-R_{i,1}}\left\{\frac{16F_{i,z}}{G{d_i}^4}(R_{i,2}^4-R_{i,1}^4)\right\}---\left(4\right)$

Wherein, n _i, F _{I, z}, R _{I, 2}, R _{I, 1}, d _iBe respectively the i layer etc. the number of active coils and the value n of pitch tapered coil spring _i=2, external force, great circle radius, ringlet radius, the spring wire diameter that consumes when spring begins to contact, G is a shear modulus, and is relevant with the material of flexible body, suppose here every layer etc. the flexible body material of pitch tapered coil spring identical;

Being deformed into of distortion cutoff layer M layer:

$X_{M,z}=\frac{F-\underset{i=1}{\overset{M-1}{\mathrm{\Σ}}}{F}_{i,z}}{P_M^{\′}}---\left(5\right)$

Wherein, P ' _MBe the M layer etc. the spring rate of pitch tapered coil spring, its size satisfies:

$P_M^{\&prime;}=\frac{\mathrm{<figure-callout\; id="4"\; label="G\; d\; M"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">G</figure-callout>}{d}_M^{}{}_4^{}}{16n_M(R_{M,2}^2+R_{M,1}^2)(R_{M,2}+R_{M,1})}---\left(6\right)$

D wherein _M, n _M, R _{M, 2}, R _{M, 1}Be respectively distortion by layer M layer etc. spring wire diameter, number of active coils, great circle radius, the ringlet radius of pitch tapered coil spring;

Suppose the i layer etc. the large and small end bearing number of turns of pitch tapered coil spring, number of active coils be respectively: n _{I, s2}, n _{I, S1}, n _i, and arbitrarily one deck etc. the large and small end bearing number of turns of pitch tapered coil spring, number of active coils all identical, that is:

$n_{1,s2}=n_{2,s2}=n_{3,s2}=...=n_{i,s2}=\frac{1}{2}---\left(7\right)$

$n_{1,s1}=n_{2,s1}=n_{3,s1}=...=n_{i,s1}=\frac{1}{4}---\left(8\right)$

n ₁＝n ₂＝n ₃＝…＝n _i＝2 (9)

Make virtual contact force act on the flexible body bump point, i layer correspondence etc. the pitch tapered coil spring begin to be compressed, if preceding i layer etc. the external force F that consumes when beginning to contact of pitch tapered coil spring _{I, z}Sum is less than given virtual contact force F, and the i layer etc. the pitch tapered coil spring produce linear deformation and amount to the time delay time that needs and satisfy the above requirement of refreshing frequency 1000Hz, establish and amount to through time delay L _iAfter, the spring of i layer is compressed, pitch tapered coil spring such as corresponding produces linear deformation, have only when the i layer etc. after the pitch tapered coil spring is compressed to the maximum linear deformation length, i+1 layer correspondence etc. the pitch tapered coil spring just begin to be compressed, the rest may be inferred, up to preceding M layer all etc. the external force sum that consumes when beginning to contact of pitch tapered coil spring be not less than given virtual contact force, or the M layer etc. the pitch tapered coil spring produce linear deformation and amount to the time delay time that needs and do not satisfy the requirement of refreshing frequency;

Use l _i, L _iRepresent respectively the i layer etc. the pitch tapered coil spring produce the time delay time of linear deformation needs, preceding i layer etc. the pitch tapered coil spring produce the time delay time of linear deformation needs, and make time delay time of interlayer satisfied with ground floor etc. the time delay time l of pitch tapered coil spring generation linear deformation needs ₁Being first term, is the Geometric Sequence of common ratio with q:

l _i＝q ^i-1l ₁ (10)

Touch virtual flexible body surface from virtual protocol collision and count, suppose the i layer etc. the pitch tapered coil spring produce linear deformation to amount to the time delay time that needs be L _i, and it must satisfy L _i＜L, wherein

$L_i={\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">l</figure-callout>}}_1+{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">l</figure-callout>}}_2+l_3+...+l_{i-1}+l_i$

$=\frac{1-q^i}{1-q}\&CenterDot;l_1---\left(11\right)$

L is the inverse of power tactile sense reproduction refreshing frequency;

Etc. in the pitch tapered coil spring power touch feeling model building method every layer etc. pitch tapered coil spring deflection sum stack externally equivalence be the distortion on flexible body surface,

$X=\underset{i=1}{\overset{M-1}{\mathrm{\&Sigma;}}}{X}_{i,z}+X_{M,z}---\left(12\right)$

Wherein, X _{I, z}For any i layer in the preceding M-1 layer etc. the maximum linear distortion of pitch tapered coil spring, X _{M, z}Be the linear deformation of distortion cutoff layer M layer, X be preceding M layer all etc. the linear deformation sum of pitch tapered coil spring;

Power haptic interaction equipment adopts PHANTOM OMNI power haptic interaction equipment, described PHANTOM OMNI power haptic interaction equipment is by the power supply of APS Switching Power Supply, after the APS Switching Power Supply, the alternating current of power supply 220V is converted into 18V, 2.22A required voltage, display card, 1394 cards, hard disk are all realized transmitted in both directions by bus, and display is connected with display card by the VGA connecting line.

Advantage of the present invention:

(1) compares with virtual operation artificial system commonly used in the past, this system is based on 3DS Max 9.0, VC++6.0 and OpenGL software programming, obtaining and revise conveniently of model can feed back to operator's power tactile data true to nature by making the haptic interaction equipment PHANTOM OMNI that exerts oneself.

(2) this system is in reciprocal process, the operator can perceive the power/tactile data between the virtual protocol and flexible body in the emulation deformation process in real time, truly, utilize this analogue system can make faster, more effective, the calm strategical vantage point of operator grasp complicated operation technique skill and flow process, satisfy the needs of virtual operation artificial system.

(3) compare with the flexible body deformation simulation power touch feeling model building method based on physical significance commonly used in the past, the modeling method that this system adopts is theoretical foundation with the Machine Design medium knot apart from the transformation relation between tapered coil spring power and the distortion, in deformation calculation process the supposition random layer etc. the pitch tapered coil spring only produce linear deformation when beginning to contact, thereby guaranteed every layer etc. the external force that consumes when beginning to contact of pitch tapered coil spring be deformed into linear relationship when beginning to contact, compare with equal proportion stratiform power touch feeling model building in parallel method, this modeling method since every layer only comprise pitch tapered coil spring such as, simplified calculating, and any i layer of preceding M-1 layer etc. the pitch tapered coil spring all reach the distortion of corresponding maximum linear, thereby the utilization factor of pitch tapered coil spring is improved, and The deformation calculation speeds up.

(4) etc. pitch tapered coil spring power touch feeling model building method is provided with different spring wire diameters, great circle radius, ringlet radius, pitch, the great circle radius side bearing number of turns, the ringlet radius side bearing number of turns, number of active coils, spring rate and shear modulus according to different flexible bodies, to realize that different flexible bodies are by the deformation effect of depressing.

(5) analogue system of this holding power tactile feedback can be used for fields such as other virtual operation emulation, tele-medicine, deep space exploration.

Description of drawings

Fig. 1 is a system chart;

Fig. 2 is the circuit system schematic diagram;

Fig. 3 is the software control algorithm process flow diagram;

Fig. 4 is the enhancing power touch feeling model building method flow diagram in virtual protocol and the flexible body reciprocal process;

Fig. 5 is in the enhancing power touch feeling model building method, external force, the distortion number of plies and time delay time relationship synoptic diagram;

The modeling method synoptic diagram is calculated in pitch tapered auger power senses of touch such as Fig. 6 is, (a) is virgin state, (b) is that the state (c) after the compression is this each layer of modeling method and the corresponding relation on virtual flexible body surface and the stressed isoboles of the corresponding frontier point of each layer.

Embodiment:

Embodiment 1:

A kind of power tactile feedback analogue system of virtual flexible body, comprise: main frame 2 and power haptic interaction equipment 3, on main frame 2, be connected with display 1, described main frame 2 comprises hard disk 24 and 1394 cards 23 at least, it is characterized in that, described hard disk 24 comprises at least: the position detecting module 241 that is used to detect the virtual protocol position, be used to detect the collision detection module 242 whether virtual protocol and virtual flexible body bump, deformation module 243 is calculated in the power sense of touch, calculate the figure refresh module 244 and the power tactile data feedback module 245 of the information refresh graphics of the up-to-date power sense of touch distortion that deformation module 243 sends according to the power sense of touch, described hard disk 24 is connected with power haptic interaction equipment 3 by 1394 cards, 23 and 1394 connecting lines, the deformation information that is used for the power sense of touch is calculated the flexible body surface that deformation module 243 produces transfers to power haptic interaction equipment 3

Described power sense of touch is calculated deformation module 243 and is used for when virtual protocol and virtual flexible body bump with given virtual contact force F, under the point of impingement, hang first etc. the pitch tapered coil spring, form ground floor, the spring wire diameter of pitch tapered coil springs such as described ground floor is d ₁, the great circle radius is R _1,2, the ringlet radius is R _1,1, pitch is t ₁, great circle radius side bearing number of turns n _{1, s2}Value is 0.5, ringlet radius side bearing number of turns n _{1, s1}Value is 0.25, number of active coils n ₁Value is 2; Ground floor etc. under the pitch tapered coil spring, hang pitch tapered coil spring such as second, form the second layer, the spring wire diameter of pitch tapered coil springs such as the described second layer is d ₁Q, great circle radius are R _1,2Q, ringlet radius are R _1,1Q, pitch are t ₁Q, great circle radius side bearing number of turns n _{2, s2}Value is 0.5, ringlet radius side bearing number of turns n _{2, s1}Value is 0.25, number of active coils n ₂Value is 2; The second layer etc. under the pitch tapered coil spring, hang pitch tapered coil spring such as the 3rd, form the 3rd layer, the spring wire diameter of pitch tapered coil spring such as described the 3rd layer is d ₁q ², the great circle radius is R _1,2q ², the ringlet radius is R _1,1q ², pitch is t ₁q ², great circle radius side bearing number of turns n _{3, s2}Value is 0.5, ringlet radius side bearing number of turns n _{3, s1}Value is 0.25, number of active coils n ₃Value is 2; And the like, the i-1 layer etc. under the pitch tapered coil spring, hang pitch tapered coil spring such as i, form the i layer, the spring wire diameter of pitch tapered coil springs such as described i layer is d ₁q ^I-1, the great circle radius is R _1,2q ^I-1, the ringlet radius is R _1,1q ^I-1, pitch is t ₁q ^I-1, great circle radius side bearing number of turns n _{I, s2}Value is 0.5, ringlet radius side bearing number of turns n _{I, s1}Value is 0.25, number of active coils n _iValue is 2, forms the i layer, i=1, and 2,3 ..., N, N are natural number;

The active line of supposing virtual contact force F is consistent with the volute spring center line, and under virtual contact force F effect, only produce linear deformation when beginning to contact etc. the pitch tapered coil spring, if total M layer produces distortion in the flexible body, then the M layer is called the distortion cutoff layer, wherein preceding M-1 layer etc. the maximum linear length of pitch tapered coil spring distortion when all being compressed to spring and beginning to contact, the maximum linear length of distortion when the compressed length of the spring of M layer is not more than spring and begins to contact;

For the i layer etc. the pitch tapered coil spring, because of it satisfies:

R _i，2-R _i，1＜n _i·d _i (1)

So the i layer etc. the external force F that consumes when beginning to contact of pitch tapered coil spring _{I, z}Be expressed as:

$F_{i,z}=\frac{G{d}_i^4}{64R_{i,2}^3}(t_i-d_i^{\&prime;})---\left(2\right)$

Wherein, t _i, d ' _iBe respectively the i layer etc. the pitch, spring of pitch tapered coil spring press and the hour circle between centre-height, its size satisfies:

$d_i^{\&prime;}=d_i\sqrt{1-{\left(\frac{R_{i,2}-R_{i,1}}{n_i\&CenterDot;d_i}\right)}^2}---\left(3\right)$

Before in the M-1 layer any i layer etc. the linear deformation X of pitch tapered coil spring when beginning to contact _{I, z}For:

$X_{i,z}=\frac{n_i}{R_{i,2}-R_{i,1}}\left\{\frac{16F_{i,z}}{G{d_i}^4}(R_{i,2}^4-R_{i,1}^4)\right\}---\left(4\right)$

Wherein, n _i, F _{I, z}, R _{I, 2}, R _{I, 1}, d _iBe respectively the i layer etc. the number of active coils and the value n of pitch tapered coil spring _i=2, external force, great circle radius, ringlet radius, the spring wire diameter that consumes when spring begins to contact, G is a shear modulus, and is relevant with the material of flexible body, suppose here every layer etc. the flexible body material of pitch tapered coil spring identical;

Being deformed into of distortion cutoff layer M layer:

$X_{M,z}=\frac{F-\underset{i=1}{\overset{M-1}{\mathrm{\&Sigma;}}}{F}_{i,z}}{P_M^{\&prime;}}---\left(5\right)$

Wherein, P ' _MBe the M layer etc. the spring rate of pitch tapered coil spring, its size satisfies:

$P_M^{\&prime;}=\frac{\mathrm{<figure-callout\; id="4"\; label="G\; d\; M"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">G</figure-callout>}{d}_M^{}{}_4^{}}{16n_M(R_{M,2}^2+R_{M,1}^2)(R_{M,2}+R_{M,1})}---\left(6\right)$

D wherein _M, n _M, R _{M, 2}, R _{M, 1}Be respectively distortion by layer M layer etc. spring wire diameter, number of active coils, great circle radius, the ringlet radius of pitch tapered coil spring;

Suppose the i layer etc. the large and small end bearing number of turns of pitch tapered coil spring, number of active coils be respectively: n _{I, s2}, n _{I, s1}, n _i, and arbitrarily one deck etc. the large and small end bearing number of turns of pitch tapered coil spring, number of active coils all identical, that is:

${\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">n</figure-callout>}}_{1,\mathrm{<figure-callout\; id="2"\; label="s"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">s</figure-callout>}2}={\mathrm{<figure-callout\; id="2"\; label="n"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">n</figure-callout>}}_{2,\mathrm{<figure-callout\; id="2"\; label="s"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">s</figure-callout>}2}=n_{3,\mathrm{<figure-callout\; id="2"\; label="s"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">s</figure-callout>}2}=...=n_{i,\mathrm{<figure-callout\; id="2"\; label="s"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">s</figure-callout>}2}=\frac{1}{2}---\left(7\right)$

${\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">n</figure-callout>}}_{1,\mathrm{<figure-callout\; id="1"\; label="s"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">s</figure-callout>}1}={\mathrm{<figure-callout\; id="2"\; label="n"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">n</figure-callout>}}_{2,\mathrm{<figure-callout\; id="1"\; label="s"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">s</figure-callout>}1}=n_{3,\mathrm{<figure-callout\; id="1"\; label="s"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">s</figure-callout>}1}=...=n_{i,\mathrm{<figure-callout\; id="1"\; label="s"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">s</figure-callout>}1}=\frac{1}{4}---\left(8\right)$

n ₁＝n ₂＝n ₃＝…＝n _i＝2 (9)

Make virtual contact force act on the flexible body bump point, i layer correspondence etc. the pitch tapered coil spring begin to be compressed, if preceding i layer etc. the external force F that consumes when beginning to contact of pitch tapered coil spring _{I, z}Sum is less than given virtual contact force F, and the i layer etc. the pitch tapered coil spring produce linear deformation and amount to the time delay time that needs and satisfy the above requirement of refreshing frequency 1000Hz, establish and amount to through time delay L _iAfter, the spring of i layer is compressed, pitch tapered coil spring such as corresponding produces linear deformation, have only when the i layer etc. after the pitch tapered coil spring is compressed to the maximum linear deformation length, i+1 layer correspondence etc. the pitch tapered coil spring just begin to be compressed, the rest may be inferred, up to preceding M layer all etc. the external force sum that consumes when beginning to contact of pitch tapered coil spring be not less than given virtual contact force, or the M layer etc. the pitch tapered coil spring produce linear deformation and amount to the time delay time that needs and do not satisfy the requirement of refreshing frequency;

Use l _i, L _iRepresent respectively the i layer etc. the pitch tapered coil spring produce the time delay time of linear deformation needs, preceding i layer etc. the pitch tapered coil spring produce the time delay time of linear deformation needs, and make time delay time of interlayer satisfied with ground floor etc. the time delay time l of pitch tapered coil spring generation linear deformation needs ₁Being first term, is the Geometric Sequence of common ratio with q:

l _i＝q ^i-1l ₁ (10)

Touch virtual flexible body surface from virtual protocol collision and count, suppose the i layer etc. the pitch tapered coil spring produce linear deformation to amount to the time delay time that needs be L _i, and it must satisfy L _i＜L, wherein

$L_i={\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">l</figure-callout>}}_1+{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">l</figure-callout>}}_2+l_3+...+l_{i-1}+l_i$

$=\frac{1-q^i}{1-q}\&CenterDot;l_1---\left(11\right)$

L is the inverse of power tactile sense reproduction refreshing frequency;

Etc. in the pitch tapered coil spring power touch feeling model building method every layer etc. pitch tapered coil spring deflection sum stack externally equivalence be the distortion on flexible body surface,

$X=\underset{i=1}{\overset{M-1}{\mathrm{\&Sigma;}}}{X}_{i,z}+X_{M,z}---\left(12\right)$

Wherein, X _{I, z}For any i layer in the preceding M-1 layer etc. the maximum linear distortion of pitch tapered coil spring, X _{M, z}Be the linear deformation of distortion cutoff layer M layer, X be preceding M layer all etc. the linear deformation sum of pitch tapered coil spring;

Power haptic interaction equipment 3 adopts PHANTOM OMNI power haptic interaction equipment 3, described PHANTOM OMNI power haptic interaction equipment 3 is by 4 power supplies of APS Switching Power Supply, after the APS Switching Power Supply, the alternating current of power supply 220V is converted into 18V, 2.22A required voltage, display card 21,1394 cards 23, hard disk 24 are all realized transmitted in both directions by bus 22, and display 1 is connected with display card 21 by the VGA connecting line.

Embodiment 2:

A kind of power tactile feedback analogue system of virtual flexible body, comprise: main frame 2 and power haptic interaction equipment 3, on main frame 2, be connected with display 1, described main frame 2 comprises hard disk 24 and 1394 cards 23 at least, it is characterized in that, described hard disk 24 comprises at least: the position detecting module 241 that is used to detect the virtual protocol position, be used to detect the collision detection module 242 whether virtual protocol and virtual flexible body bump, deformation module 243 is calculated in the power sense of touch, calculate the figure refresh module 244 and the power tactile data feedback module 245 of the information refresh graphics of the up-to-date power sense of touch distortion that deformation module 243 sends according to the power sense of touch, described hard disk 24 is connected with power haptic interaction equipment 3 by 1394 cards, 23 and 1394 connecting lines, the deformation information that is used for the power sense of touch is calculated the flexible body surface that deformation module 243 produces transfers to power haptic interaction equipment 3

Make up virtual gall-bladder model and virtual medical curved forceps model, realize the initialization of virtual scene.

All virtual gall-bladders and virtual medical curved forceps model all directly adopt the OBJ form of deriving in this example from 3DS MAX 9.0 softwares, with 1057 particles, 2110 virtual gall-bladder and 461 particles that triangle gridding constitutes, the virtual medical curved forceps of 921 triangle gridding formations is that example is carried out deformation simulation, and model obtains and revise very convenient; Operation platform is Windows 2000, based on 3DS MAX 9.0, OpenGL shape library, has carried out emulation on the VC++6.0 Software Development Platform.

When detecting virtual medical curved forceps and collide on the virtual gall-bladder surface any point, under given virtual contact force F=2.4N effect, the mutual regional area of virtual medical curved forceps and virtual gall-bladder is inner fills every layer and pitch tapered coil spring power sense of touch dummy model such as is, in reciprocal process, output is fed back to the signal of the power tactile data of the virtual under external force gall-bladder real-time deformation of the reaction emulation that pitch tapered coil spring power sense of touch dummy model such as employing calculates.

Spring wire diameter, great circle radius, ringlet radius, the pitch of supposing pitch tapered coil springs such as ground floor are respectively: d ₁=1mm, R _1,2=5mm, R _1,1=4mm, t ₁Spring wire diameter, great circle radius, ringlet radius, the pitch of pitch tapered coil springs such as=2mm i layer, the corresponding amount that they are all formed with pitch tapered coil springs such as ground floors is a first term, is the Geometric Sequence of common ratio with q=1.2; Number of active coils n ₁=2; Arbitrary layer etc. the material of pitch tapered coil spring all identical, promptly get G=4 * 10 ⁹Pa; The final data round off method of calculating keeps behind the radix point 3.

If under given virtual contact force F effect, ground floor etc. the pitch tapered coil spring only produce linear deformation when beginning to contact, for ground floor etc. the pitch tapered coil spring, satisfied because of it:

R _1，2-R _1，1＝1mm＜n ₁·d ₁＝2mm (1)

Wherein, ground floor etc. the pitch tapered coil spring press and the hour circle between centre-height be:

${\mathrm{<figure-callout\; id="1"\; label="d"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">d</figure-callout>}}_1^{\&prime;}={\mathrm{<figure-callout\; id="1"\; label="d"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">d</figure-callout>}}_1\sqrt{1-{\left(\frac{{\mathrm{<figure-callout\; id="1"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">R</figure-callout>}}_{\mathrm{1,2}}-{\mathrm{<figure-callout\; id="1"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">R</figure-callout>}}_{\mathrm{1,1}}}{{\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">n</figure-callout>}}_1\&CenterDot;d_1}\right)}^2}$

$=1\&times;\sqrt{1-{\left(\frac{5-4}{2\&times;1}\right)}^2}---\left(2\right)$

$=\frac{\sqrt{3}}{2}\mathrm{mm}$

So ground floor etc. the external force F that consumes when beginning to contact of pitch tapered coil spring _{1, z}For:

${\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">F</figure-callout>}}_{1,z}^{\&prime;}=\frac{\mathrm{<figure-callout\; id="1"\; label="G\; d"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">G</figure-callout>}{d}_{}^{}{}_1^4}{64{\mathrm{<figure-callout\; id="1"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">\; <figure-callout\; id="2"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">R</figure-callout>\; </figure-callout>}}_{\mathrm{1,2}}^3}(t_1-{\mathrm{<figure-callout\; id="1"\; label="d"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">d</figure-callout>}}_1^{\&prime;})$

$=\frac{4\&times;{10}^9\&times;1^4}{65\&times;5^3}(2-\frac{\sqrt{3}}{2})---\left(3\right)$

$=0.567N$

Ground floor etc. the external force F that consumes when beginning to contact of pitch tapered coil spring _{1, z}=0.567N＜F=2.4N;

Ground floor etc. the linear deformation X of pitch tapered coil spring when beginning to contact _{1, z}For:

${\mathrm{<figure-callout\; id="1"\; label="X"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">X</figure-callout>}}_{1,z}=\frac{n_1}{{\mathrm{<figure-callout\; id="1"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">R</figure-callout>}}_{\mathrm{1,2}}-{\mathrm{<figure-callout\; id="1"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">R</figure-callout>}}_{\mathrm{1,1}}}\left\{\frac{16{\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">F</figure-callout>}}_{1,\mathrm{<figure-callout\; id="1"\; label="z\; G\; d"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">z</figure-callout>}}}{G{d_{}}^{}}({\mathrm{<figure-callout\; id="1"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">\; <figure-callout\; id="2"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">R</figure-callout>\; </figure-callout>}}_{\mathrm{1,2}}^4-{\mathrm{<figure-callout\; id="1"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">\; <figure-callout\; id="1"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">R</figure-callout>\; </figure-callout>}}_{\mathrm{1,1}}^4)\right\}$

$=\frac{2}{5-4}\left\{\frac{16\&times;0.567}{4\&times;{10}^9\&times;1^4}(5^4-4^4)\right\}---\left(4\right)$

$=1.674\mathrm{mm}$

Suppose ground floor etc. time of needing of pitch tapered coil spring distortion be l ₁=10 ^-5S;

Suppose that power tactile sense reproduction refreshing frequency is 1200Hz, then the inverse of power tactile sense reproduction refreshing frequency

The time that the distortion of pitch tapered coil springs such as ground floor needs ${\mathrm{<figure-callout\; id="1"\; label="L"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">L</figure-callout>}}_1={\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">l</figure-callout>}}_1={10}^{-5}s<L=\frac{1}{1200}s;$

Therefore, ground floor etc. the external force F that consumes when beginning to contact of pitch tapered coil spring _{1, z}=0.567N＜F=2.4N, and ground floor etc. pitch tapered coil spring distortion amount to the time delay time that needs and satisfy the above requirement of refreshing frequency 1000Hz.

So under given virtual contact force F effect, the second layer etc. the pitch tapered coil spring might be also only produce linear deformation when beginning to contact, the spring wire diameter of pitch tapered coil springs such as the second layer, great circle radius, ringlet radius, pitch, the corresponding amount of all forming with pitch tapered coil springs such as ground floors because of them is a first term, with q=1.2 is the Geometric Sequence of common ratio, so d ₂=d ₁Q=1.2mm, R _2,2=R _1,2Q=6mm, R _2,1=R _1,1Q=4.8mm, t ₂=t ₁Q=2.4mm; Number of active coils n ₂=n ₁=2;

For the second layer etc. the pitch tapered coil spring, because of it satisfies:

R _2，2-R _2，1＝1.2mm＜n ₂·d ₂＝2×1.2＝2.4mm (5)

Wherein, the second layer etc. the pitch tapered coil spring press and the hour circle between centre-height be:

${\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">d</figure-callout>}}_2^{\&prime;}={\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">d</figure-callout>}}_2\sqrt{1-{\left(\frac{{\mathrm{<figure-callout\; id="2"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">R</figure-callout>}}_{\mathrm{2,2}}-{\mathrm{<figure-callout\; id="2"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">R</figure-callout>}}_{\mathrm{2,1}}}{{\mathrm{<figure-callout\; id="2"\; label="n"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">n</figure-callout>}}_2\&CenterDot;d_2}\right)}^2}$ (6)

$=\frac{\sqrt{3}}{2}\&CenterDot;q$

So the second layer etc. the external force F that consumes when beginning to contact of pitch tapered coil spring _{2, z}For:

${\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">F</figure-callout>}}_{2,z}^{\&prime;}=\frac{\mathrm{<figure-callout\; id="2"\; label="G\; d"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">G</figure-callout>}{d}_{}^{}{}_2^4}{64{\mathrm{<figure-callout\; id="2"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">\; <figure-callout\; id="2"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">R</figure-callout>\; </figure-callout>}}_{\mathrm{2,2}}^3}(t_2-{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">d</figure-callout>}}_2^{\&prime;})$

$=\frac{G\&CenterDot;{\mathrm{<figure-callout\; id="1"\; label="d"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">d</figure-callout>}}_1^4\&CenterDot;{\mathrm{<figure-callout\; id="4"\; label="q"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">q</figure-callout>}}^4}{64\&CenterDot;{\mathrm{<figure-callout\; id="1"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">\; <figure-callout\; id="2"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">R</figure-callout>\; </figure-callout>}}_{\mathrm{1,2}}^3\&CenterDot;q^3}\&CenterDot;(t_1-{\mathrm{<figure-callout\; id="1"\; label="d"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">d</figure-callout>}}_1^{\&prime;})\&CenterDot;q---\left(7\right)$

$={\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">F</figure-callout>}}_{1,z}\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="q"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">q</figure-callout>}}^2$

$=0.816N$

First and second layer etc. the external force sum that consumes when beginning to contact of pitch tapered coil spring be: F _{1, z}+ F _{2, z}=0.567+0.816=1.383N＜F=2.4N

The second layer etc. the linear deformation X of pitch tapered coil spring when beginning to contact _{2, z}For:

${\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">X</figure-callout>}}_{2,z}=\frac{n_2}{{\mathrm{<figure-callout\; id="2"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">R</figure-callout>}}_{\mathrm{2,2}}-{\mathrm{<figure-callout\; id="2"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">R</figure-callout>}}_{\mathrm{2,1}}}\left\{\frac{16{\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">F</figure-callout>}}_{2,\mathrm{<figure-callout\; id="2"\; label="z\; G\; d"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">z</figure-callout>}}}{G{d_{}}^{}}({\mathrm{<figure-callout\; id="2"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">\; <figure-callout\; id="2"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">R</figure-callout>\; </figure-callout>}}_{\mathrm{2,2}}^4-{\mathrm{<figure-callout\; id="2"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">\; <figure-callout\; id="1"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">R</figure-callout>\; </figure-callout>}}_{\mathrm{2,1}}^4)\right\}$

$=\frac{n_1}{({\mathrm{<figure-callout\; id="1"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">R</figure-callout>}}_{\mathrm{1,2}}-{\mathrm{<figure-callout\; id="1"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">R</figure-callout>}}_{\mathrm{1,1}})\&CenterDot;q}\{\frac{16{\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">F</figure-callout>}}_{1,z}\&CenterDot;q^2}{\mathrm{<figure-callout\; id="1"\; label="G\; d"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">G</figure-callout>}{d_{}}^{}{{}_1}^4\&CenterDot;q^4}({\mathrm{<figure-callout\; id="1"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">\; <figure-callout\; id="2"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">R</figure-callout>\; </figure-callout>}}_{\mathrm{1,2}}^4-{\mathrm{<figure-callout\; id="1"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">\; <figure-callout\; id="1"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">R</figure-callout>\; </figure-callout>}}_{\mathrm{1,1}}^4)\&CenterDot;q^4\}---\left(8\right)$

$={\mathrm{<figure-callout\; id="1"\; label="X"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">X</figure-callout>}}_{1,z}\&CenterDot;q$

$=2.009\mathrm{mm}$

Because of the time delay time of interlayer is satisfied the time l that produces the linear deformation needs with the spring of ground floor ₁Being first term, is the Geometric Sequence of common ratio with q, thus the first two layer etc. the pitch tapered coil spring time L that need be out of shape ₂=l ₁+ l ₂=(1+q) l ₁=2.2 * 10 ^-5S＜L, L is the inverse of power tactile sense reproduction refreshing frequency here,

Therefore, before the external force sum that consumes when beginning to contact of pitch tapered coil spring such as two-layer less than given virtual contact force, and preceding pitch tapered coil spring distortion such as two-layer amounts to the time delay time that needs and satisfies the above requirement of refreshing frequency 1000Hz.

So under given virtual contact force F effect, the 3rd layer etc. the pitch tapered coil spring might be also only produce linear deformation when beginning to contact, spring wire diameter, great circle radius, ringlet radius, the pitch of pitch tapered coil spring such as the 3rd layer, the corresponding amount of all forming with pitch tapered coil springs such as ground floors because of them is a first term, with q=1.2 is the Geometric Sequence of common ratio, so d ₃=d ₁Q ²=1.44mm, R _3,2=R _1,2Q ²=7.2mm, R _3,1=R _1,1Q ²=5.76mm, t ₃=t ₁Q ²=2.88mm; Number of active coils n ₃=n ₂=n ₁=2;

For the 3rd layer etc. the pitch tapered coil spring, because of it satisfies:

R _3，2-R _3，1＝1.44mm＜n ₃·d ₃＝2×1.44＝2.88mm (9)

Wherein, the 3rd layer etc. the pitch tapered coil spring press and the hour circle between centre-height be:

$d_3^{\&prime;}=d_3\sqrt{1-{\left(\frac{R_{\mathrm{3,2}}-R_{\mathrm{3,1}}}{n_3\&CenterDot;d_3}\right)}^2}$ (10)

$=\frac{\sqrt{3}}{2}\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="q"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">q</figure-callout>}}^2$

So the 3rd layer etc. the external force F that consumes when beginning to contact of pitch tapered coil spring _{3, z}For:

$F_{3,z}=\frac{G{d}_3^4}{64{\mathrm{<figure-callout\; id="2"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">R</figure-callout>}}_{\mathrm{3,2}}^3}(t_3-d_3^{\&prime;})$

$=\frac{G\&CenterDot;{\mathrm{<figure-callout\; id="1"\; label="d"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">d</figure-callout>}}_1^4\&CenterDot;q^8}{64\&CenterDot;{\mathrm{<figure-callout\; id="1"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">\; <figure-callout\; id="2"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">R</figure-callout>\; </figure-callout>}}_{\mathrm{1,2}}^3\&CenterDot;q^6}\&CenterDot;(t_1-{\mathrm{<figure-callout\; id="1"\; label="d"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">d</figure-callout>}}_1^{\&prime;})\&CenterDot;q^2---\left(11\right)$

$={\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">F</figure-callout>}}_{1,z}\&CenterDot;{\mathrm{<figure-callout\; id="4"\; label="q"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">q</figure-callout>}}^4$

$=1.176N$

First, second and third layer etc. the external force sum that consumes when beginning to contact of pitch tapered coil spring be: F _{1, z}+ F _{2, z}+ F _{3, z}=0.567+0.816+1.176=2.559N＞F=2.4N

Since three first layers etc. the external force sum that consumes when beginning to contact of pitch tapered coil spring be not less than given virtual contact force, then the 3rd layer is the distortion cutoff layer, do not need to judge whether again to satisfy the requirement of refreshing frequency, this moment the first two layer etc. the pitch tapered coil spring produce linear deformation when beginning to contact, the 3rd layer etc. pitch tapered coil spring corresponding spring rigidity be P ' ₃, its size is:

$P_3^{\&prime;}=\frac{G{d}_3^4}{16n_3({\mathrm{<figure-callout\; id="2"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">R</figure-callout>}}_{\mathrm{3,2}}^2+{\mathrm{<figure-callout\; id="1"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">R</figure-callout>}}_{\mathrm{3,1}}^2)({\mathrm{<figure-callout\; id="2"\; label="R"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">R</figure-callout>}}_{\mathrm{3,2}}+R_{\mathrm{3,1}})}$

$=\frac{4\&times;{10}^9\&times;{1.44}^4}{16\&times;2\&times;({7.2}^2+{5.76}^2)(7.2+5.76)}---\left(12\right)$

$=0.488N/\mathrm{mm}$

Then the 3rd layer etc. the deflection of pitch tapered coil spring correspondence be:

$X_{3,z}=\frac{F-({\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">F</figure-callout>}}_{1,z}+{\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="HSA00000123443400012.png"\; state="\{\{state\}\}">F</figure-callout>}}_{2,z})}{P_3^{\&prime;}}$

$=\frac{2.4-(0.576+0.816)}{0.488}---\left(13\right)$

$=2.084\mathrm{mm}$

So under given virtual contact force F=2.4N effect, be the distortion on virtual gall-bladder surface etc. the external equivalence of the stack of pitch tapered coil spring deflection sums such as three first layers in the pitch tapered coil spring power touch feeling model building method, total deformation is:

X＝X _1，z+X _1，z+X _3，z

＝1.674+2.009+2.084 (14)

＝5.767mm

Attention: in pitch tapered coil spring power touch feeling model building methods such as employing are calculated under external force flexible body real-time deformation process of simulation, if d ₁, R _1,2, R _1,1, t ₁, these selection of parameter of G excessive, then wait the number of plies of being out of shape in the pitch tapered coil spring power touch feeling model building method just few, calculated amount is little, real-time is good, but the deformation simulation poor effect; If d ₁, R _1,2, R _1,1, t ₁, these selection of parameter of G too small, then wait the number of plies of being out of shape in the pitch tapered coil spring power touch feeling model building method just many more, calculated amount is big, real-time is not good, but the deformation simulation effect is better; In addition l is being set ₁And l _iBetween proportionate relationship the time, consider the hardware configuration of program run computer-chronograph itself, thus in the process of debugging whole procedure, compromise and select these parameters, constantly debugging repeatedly, thus make deformation effect more true to nature.

For verifying implementation result of the present invention, the operator is by the deformation simulation that the handle of PHANTOM OMNI hand controller end touches, perception and the virtual medical curved forceps of control are pushed virtual gall-bladder, and the power tactile data that produces in the reciprocal process is fed back to the operator in real time.In the natural interaction process, the operator can perceive the power tactile data between the virtual medical curved forceps and virtual gall-bladder in the deformation simulation process in real time, truly, experimental result shows: this modeling method is very effective, can allow the operator experience more real power/tactilely-perceptible, obtain satisfied perceived effect.

Power haptic interaction equipment 3 adopts PHANTOM OMNI power haptic interaction equipment 3, described PHANTOM OMNI power haptic interaction equipment 3 is by 4 power supplies of APS Switching Power Supply, after the APS Switching Power Supply, the alternating current of power supply 220V is converted into 18V, 2.22A required voltage, display card 21,1394 cards 23, hard disk 24 are all realized transmitted in both directions by bus 22, and display 1 is connected with display card 21 by the VGA connecting line.

Claims (1)

1. the power tactile feedback analogue system of a virtual flexible body, comprise: main frame (2) and power haptic interaction equipment (3), on main frame (2), be connected with display (1), described main frame (2) comprises hard disk (24) and 1394 cards (23) at least, it is characterized in that, described hard disk (24) comprises at least: the position detecting module (241) that is used to detect the virtual protocol position, be used to detect the collision detection module (242) whether virtual protocol and virtual flexible body bump, deformation module (243) is calculated in the power sense of touch, calculate the figure refresh module (244) and the power tactile data feedback module (245) of the up-to-date power sense of touch deformation information that deformation module (243) sends according to the power sense of touch, described hard disk (24) is connected with power haptic interaction equipment (3) by 1394 cards (23) and 1394 connecting lines, the deformation information that is used for the power sense of touch is calculated the flexible body surface that deformation module (243) produces transfers to power haptic interaction equipment (3)

Described power sense of touch is calculated deformation module (243) and is used for when virtual protocol and virtual flexible body bump with given virtual contact force F, under the point of impingement, hang first etc. the pitch tapered coil spring, form ground floor, the spring wire diameter of pitch tapered coil springs such as described ground floor is d ₁, the great circle radius is R _1,2, the ringlet radius is R _1,1, pitch is t ₁, great circle radius side bearing number of turns n _{1, s2}Value is 0.5, ringlet radius side bearing number of turns n _{1, s1}Value is 0.25, number of active coils n ₁Value is 2; Ground floor etc. under the pitch tapered coil spring, hang pitch tapered coil spring such as second, form the second layer, the spring wire diameter of pitch tapered coil springs such as the described second layer is d ₁Q, great circle radius are R _1,2Q, ringlet radius are R _1,1Q, pitch are t ₁Q, great circle radius side bearing number of turns n _{2, s2}Value is 0.5, ringlet radius side bearing number of turns n _{2, s1}Value is 0.25, number of active coils n ₂Value is 2; The second layer etc. under the pitch tapered coil spring, hang pitch tapered coil spring such as the 3rd, form the 3rd layer, the spring wire diameter of pitch tapered coil spring such as described the 3rd layer is d ₁q ², the great circle radius is R _1,2q ², the ringlet radius is R _1,1q ², pitch is t ₁q ², great circle radius side bearing number of turns n _{3, s2}Value is 0.5, ringlet radius side bearing number of turns n _{3, s1}Value is 0.25, number of active coils n ₃Value is 2; And the like, the i-1 layer etc. under the pitch tapered coil spring, hang pitch tapered coil spring such as i, form the i layer, the spring wire diameter of pitch tapered coil springs such as described i layer is d ₁q ^I-1, the great circle radius is R _1,2q ^I-1, the ringlet radius is R _1,1q ^I-1, pitch is t ₁q ^I-1, great circle radius side bearing number of turns n _{I, s2}Value is 0.5, ringlet radius side bearing number of turns n _{I, s1}Value is 0.25, number of active coils n _iValue is 2, forms the i layer, i=1, and 2,3 ..., N, N are natural number;

The active line of supposing virtual contact force F is consistent with the volute spring center line, and under virtual contact force F effect, only produce linear deformation when beginning to contact etc. the pitch tapered coil spring, if total M layer produces distortion in the flexible body, then the M layer is called the distortion cutoff layer, wherein preceding M-1 layer etc. the maximum linear length of pitch tapered coil spring distortion when all being compressed to spring and beginning to contact, the maximum linear length of distortion when the compressed length of the spring of M layer is not more than spring and begins to contact;

For the i layer etc. the pitch tapered coil spring, because of it satisfies:

R _i，2-R _i，1＜n _i·d _i (1)

So the i layer etc. the external force F that consumes when beginning to contact of pitch tapered coil spring _{I, z}Be expressed as:

$F_{i,z}=\frac{{\mathrm{Gd}}_i^4}{64R_{i,2}^3}(t_i-d_i^{\&prime;})---\left(2\right)$

Wherein, t _i, d ' _iBe respectively the i layer etc. the pitch, spring of pitch tapered coil spring press and the hour circle between centre-height, its size satisfies:

$d_i^{\&prime;}=d_i\sqrt{1-{\left(\frac{R_{i,2}-R_{i,1}}{n_i\&CenterDot;d_i}\right)}^2}---\left(3\right)$

Before in the M-1 layer any i layer etc. the linear deformation X of pitch tapered coil spring when beginning to contact _{I, z}For:

$X_{i,z}=\frac{n_i}{R_{i,2}-R_{i,1}}\left\{\frac{{16F}_{i,z}}{{\mathrm{Gd}}_i^4}(R_{i,2}^4-R_{i,1}^4)\right\}---\left(4\right)$

Wherein, n _i, F _{I, z}, R _{I, 2}, R _{I, 1}, d _iBe respectively the i layer etc. the number of active coils and the value n of pitch tapered coil spring _i=2, external force, great circle radius, ringlet radius, the spring wire diameter that consumes when spring begins to contact, G is a shear modulus;

Being deformed into of distortion cutoff layer M layer:

$X_{M,z}=\frac{F-\underset{i=1}{\overset{M-1}{\mathrm{\&Sigma;}}}{F}_{i,z}}{P_M^{\&prime;}}---\left(5\right)$

Wherein, P ' _MBe the M layer etc. the spring rate of pitch tapered coil spring, its size satisfies:

$P_M^{\&prime;}=\frac{{\mathrm{Gd}}_M^4}{16n_M(R_{M,2}^2+R_{M,1}^2)(R_{M,2}+R_{M,1})}---\left(6\right)$

D wherein _M, n _M, R _{M, 2}, R _{M, 1}Be respectively distortion by layer M layer etc. spring wire diameter, number of active coils, great circle radius, the ringlet radius of pitch tapered coil spring;

Make virtual contact force act on the flexible body bump point, i layer correspondence etc. the pitch tapered coil spring begin to be compressed, if preceding i layer etc. the external force F that consumes when beginning to contact of pitch tapered coil spring _{I, z}Sum is less than given virtual contact force F, and the i layer etc. the pitch tapered coil spring produce linear deformation and amount to the time delay time that needs and satisfy the above requirement of refreshing frequency 1000Hz, establish and amount to through time delay L _iAfter, the spring of i layer is compressed, pitch tapered coil spring such as corresponding produces linear deformation, have only when the i layer etc. after the pitch tapered coil spring is compressed to the maximum linear deformation length, i+1 layer correspondence etc. the pitch tapered coil spring just begin to be compressed, the rest may be inferred, up to preceding M layer all etc. the external force sum that consumes when beginning to contact of pitch tapered coil spring be not less than given virtual contact force, or the M layer etc. the pitch tapered coil spring produce linear deformation and amount to the time delay time that needs and do not satisfy the requirement of refreshing frequency;

Use l _i, L _iRepresent respectively the i layer etc. the pitch tapered coil spring produce the time delay time of linear deformation needs, preceding i layer etc. the pitch tapered coil spring produce the time delay time of linear deformation needs, and make time delay time of interlayer satisfied with ground floor etc. the time delay time l of pitch tapered coil spring generation linear deformation needs ₁Being first term, is the Geometric Sequence of common ratio with q:

l _i＝q ^i-1l ₁ (7)

Touch virtual flexible body surface from virtual protocol collision and count, suppose the i layer etc. the pitch tapered coil spring produce linear deformation to amount to the time delay time that needs be L _i, and it must satisfy L _i＜L, wherein

$L_i=l_1+l_2+l_3+...+l_{i-1}+l_i$

$=\frac{1-q^i}{1-q}\&CenterDot;l_1---\left(8\right)$

L is the inverse of power tactile sense reproduction refreshing frequency;

Etc. in the pitch tapered coil spring power touch feeling model building method every layer etc. pitch tapered coil spring deflection sum stack externally equivalence be the distortion on flexible body surface,

$X=\underset{i=1}{\overset{M-1}{\mathrm{\&Sigma;}}}{X}_{i,z}+X_{M,z}---\left(9\right)$

Wherein, X _{I, z}For any i layer in the preceding M-1 layer etc. the maximum linear distortion of pitch tapered coil spring, X _{M, z}Be the linear deformation of distortion cutoff layer M layer, X be preceding M layer all etc. the linear deformation sum of pitch tapered coil spring.

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