CN108874125A - A kind of virtual skin surface Real-time force feedback interactive system - Google Patents
A kind of virtual skin surface Real-time force feedback interactive system Download PDFInfo
- Publication number
- CN108874125A CN108874125A CN201810519371.9A CN201810519371A CN108874125A CN 108874125 A CN108874125 A CN 108874125A CN 201810519371 A CN201810519371 A CN 201810519371A CN 108874125 A CN108874125 A CN 108874125A
- Authority
- CN
- China
- Prior art keywords
- skin surface
- force feedback
- model
- virtual
- computing device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The invention discloses a kind of virtual skin surface Real-time force feedback interactive systems, including：Skin surface geometrical model, virtual scene device, detection device, computing device, force feedback computing device, model deformation computing device, feedback device, node data are with new equipment.Present invention has the advantages that：The present invention can provide a kind of approach for realizing force feedback for virtual reality interactive device, compensate for the deficiency that some virtual reality devices only have vision and audio feedback.And the form for enriching force feedback improves the validity of force feedback relative to existing sensor-based feedback form, can generate more effectively constraint to user in human-computer interaction, enhance the feeling of immersion of virtual scene；The present invention is the Real-time force feedback interactive system based on virtual skin surface, is applied in wearable device, has the advantages that light, comfortable, cost is relatively low, easily prepared.
Description
Technical field
The present invention relates to virtual reality interaction technique fields, and in particular to a kind of interaction of virtual skin surface Real-time force feedback
System.
Background technique
With the development of science and technology, virtual reality (Virtual Reality) technology has obtained extensive concern and has answered
With, especially game, video display, education, in terms of VR technology have wide prospect.Virtual reality technology includes mould
Near-ring border, perception, natural technical ability and sensor device etc..It not only include most basic vision, sense of hearing sense in perceptible aspect
Know, also strong tactilely-perceptible etc..Power tactile is unique sense for being not only subjected to ambient enviroment input but also can export to ambient enviroment
Know channel, is such as able to achieve the fusion perception and feedback of vision, power tactile, can greatly enhance the feeling of immersion of virtual reality.Force feedback
Interaction technique is a kind of approach of the power tactilely-perceptible of virtual reality technology.
Currently, VR equipment both domestic and external in terms of realizing force feedback interaction, is primarily present the deficiency of following three aspect：One,
It is in urgent need to be improved in the interaction feedback technology of power tactile fusion treatment；Two, the form of haptic device is shaken by sensor mostly
Kinetoplast table or by feedback device conductance etc., is not easy to generate user effective constraint in human-computer interaction, greatly
Reduce the feeling of immersion of virtual scene；Three, traditional force feedback interactive device module towards whole body or the upper part of the body is larger, wearing
Inconvenient and higher cost, is not suitable for promoting and applying.
Summary of the invention
To solve the above problems, the present invention provides a kind of virtual skins in particular for deficiency of the prior art
Skin surface Real-time force feedback interactive system is able to solve the above problem.
To achieve the above object, the present invention uses following technological means：
A kind of virtual skin surface Real-time force feedback interactive system, including：Skin surface geometrical model, virtual scene dress
Set, detection device, computing device, force feedback equipment, node data are with new equipment, the skin surface geometrical model is to be based on
OpenGL is established and the geometrical model of rendering skin surface, joined spring-mass model in the skin surface geometrical model,
It is that each particle devises a spring model, the skin surface geometrical model and virtual field in the spring-mass model
The connection of scape device, the virtual scene device are connect with detection device, and the detection device is connect with computing device, the calculating
Device includes force feedback computing device and model deformation computing device, and the force feedback computing device is connect with force feedback equipment,
The model deformation computing device and node data are connected with new equipment, and the force feedback equipment and node data are with new equipment point
It is not connect with virtual scene device.
Further, the spring model is positive hexagonal structure model structure.
Further, it is consistent with the direction of stress in the direction of the spring model.
Further, the skin deformation refresh rate of the detection device detection skin surface geometrical model 1 is not less than 30Hz.
Further, the maximum output feedback force of the force feedback equipment is 3.3N.
Further, the node data should be in 1kHz or more with the refreshing frequency of new equipment.
Present invention has the advantages that：The present invention can provide a kind of way for realizing force feedback for virtual reality interactive device
Diameter compensates for the deficiency that some virtual reality devices only have vision and audio feedback.And the form of force feedback is enriched, relatively
In existing sensor-based feedback form, the validity of force feedback is improved, can generate in human-computer interaction to user more has
The constraint of effect enhances the feeling of immersion of virtual scene.
The present invention is the Real-time force feedback interactive system based on virtual skin surface, is applied in wearable device, has
Advantage light, comfortable, cost is relatively low, easily prepared.
Detailed description of the invention
Fig. 1 is system distribution map of the invention；
Fig. 2 is the module diagram of skin surface geometrical model of the present invention
Fig. 3 is the structural model figure of spring model of the present invention；
Fig. 4 is the Deformation Method plan view of spring model of the present invention；
Fig. 5 is the deformation position figure of adjacent particle in spring model of the present invention；
Fig. 6 is feedback force of the present invention and the graph of relation for propagating depth m；
The graph of relation of spring model deformation quantity and propagation depth m when Fig. 7 is stress of the present invention.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing, wherein the identical appended drawing reference table of identical components
Show.It should be noted that word "front", "rear" used in the following description, "left", "right", "up" and "down" refer to attached drawing
In direction, word "inner" and "outside" refer respectively to the direction towards or away from geometric center of specific component.
As shown in Figure 1 to Figure 2, the present invention provides a kind of virtual skin surface Real-time force feedback interactive system, including：Skin
Surface geometry model 1, virtual scene device 2, detection device 3, computing device 4, force feedback equipment 5, node data are with new equipment
6, the skin surface geometrical model 1 is the geometrical model for being established and being rendered skin surface based on OpenGL, the skin surface
It joined spring-mass model 101 in geometrical model 1, be that each particle devises one in the spring-mass model 101
Spring model 102, the skin surface geometrical model 1 are connect with virtual scene device 2, the virtual scene device 2 and detection
Device 3 connects, and the detection device 3 is connect with computing device 4, and the computing device 4 includes force feedback computing device 401 and mould
Type deforms computing device 402, and the force feedback computing device 401 is connect with force feedback equipment 5, and the model deforms computing device
402 and node data connected with new equipment 6, the force feedback equipment 5 and node data are filled with virtual scene respectively with new equipment 6
Set 2 connections.
Spring model 102 is positive hexagonal structure model structure, the direction one of the direction of spring model 102 itself and stress
It causes.It is not present before emulation starts, it is just dynamically generated after emulation starts, and is mainly used for the calculating of force feedback
With the stability for increasing system.
The deformation basic thought of spring model 102 is：Apply power on a skin surface, passes through what is directly interacted with user
That surface contact point is transmitted to other each particles of surrounding being attached thereto, and the stress that these particles generate is at it
His adjacent particle transmits power to surrounding in this way, and deforms simultaneously.In systems, each particle surface spring deformation amount
Superposition can be equivalent to body surface deformation, and the resultant force of each layer Mass-spring Model elastic force can be equivalent to the contact of body surface
Power.
The spring model hexagonal structure model structure that is positive is as shown in Figure 3.In figure centered on contact point, with radiation
The surface concentric circles of shape is layered.Entire changing object is divided into a series of uniform concentric loops, radius is followed successively byAlthough particle number and radius are different in each concentric loops, due to the symmetry of surface regular hexagon structure,
For convenience of calculation, it can approximatively think that its radius is identical, and particle is rigidly connected in same circular layer.Adjacent interlayer spring
Coefficient is identical.First layer has 6 particles, 6 springs in this way.Every to increase by one layer of particle number increase by 6, spring number increases by 12.
TheLayer has particleIt is a, springIt is a.
When power F acts on particleWhen,Leaving initial position under force, deformation occurs, at this timeThe spring at place
Model is had an effect.The particle moved down simultaneouslyIt drives adjacent layer particle to be subjected to displacement by surface spring, is subjected to displacement
Each particle at spring model also have an effect.Locate particle when equilibrium is reachedIt moves toHere, appoint and take stress normal plane
One direction is analyzed, as shown in Figure 4.
At stress action spot, had according to dynamic balance relation
For i-th layer of particle, have
In formula,Indicate tangential force,Indicate normal force,It indicatesVirtual spring coefficient of elasticity at particle.
It indicatesThe displacement of particle, i.e. the deformation length of virtual spring.θ i is after deformationParticle withParticle line and level
Angular separation.
WhenWhen, it is obtained by formula (1) and formula (3)
I.e.
If the tangential and normal deformation of adjacent two layers particle, as shown in Figure 5.
It isThe deformation quantity of layer particle normal direction virtual spring, r are the original length of surface spring, and △ ri indicates tangential phase
The deformation quantity of adjacent particle surface spring.
According to the relationship of Fig. 4 to Fig. 5, it is known that the normal deformation amount of each layer particle, i.e., the paracentesis depth Δ Z that deformation occurs,
Have
TheThe coefficient of elasticity of the layer tangential surface spring of gridDistribution is the key that influence contact force and deformation calculating, this
In assume the coefficient of elasticity of tangential surface springIt is equal.It is obtained by formula (2)
It enablesIt isThe deformation ratio of the tangential surface spring of spring, αi=2i-1, then have
In normal directionThe deformation quantity of layer particle normal direction virtual springFor
As i=1,
In the model for calculating skin surface stress deformation, the size of calculation amount depends greatly on propagation depth
The size of m.Here m is a boundary parameter, it indicates the concentric circles number of plies divided centered on stress point on dummy object.
According to derivation, have
In formula:Represent the deformation quantity and boundary parameter on zoning boundary；ε1Then represent the tangential table of first layer
The deformation ratio of diaphragm flexures.
It is selected in calculatingAfterwards, it is believed that
sinθm+1≈0。
At this point, formula (5) becomes
Above derivation of equation is based on interaction pointIt obtains, according to the symmetry of model, it can be seen that each point in model
Calculating be all consistent.The size of paracentesis depth and propagation depth determines entire model deformation area in formula (6) and formula (13)
The size of domain size and feedback force.
Propagate depthIt is a parameter for controlling deformation region, its size not only affects the size of calculation amount, and
And affect computational accuracy.When one timing of deformation paracentesis depth, depth is propagatedBigger, precision is higher, and feedback force is closer to true
Strength.The problem of in view of calculation amount, can determine in experiment as the case may be and propagate depthSize.According to formula (14),
Take spring model coefficient of elasticity
Analog simulation is carried out, feedback force is obtained and propagates depthRelation curve, as shown in Figure 6.
By formula (13) it is found thatSize byAnd ε1It codetermines, choosesSurface spring original length r is
Regular length.Skin spring model deformation quantity and depth is propagated according to formula (6) and formula (12), when stressRelationship such as Fig. 7 institute
Show.
As contact point deformation ratio ε1When taking different value, different inflection curves are obtained.Show in Fig. 7:In the work of identical power
Under, the deformation ratio ε of different tissues1The deformation of difference, skin is also different.ε1It is bigger, show that tissue is more soft, stress deformation is got over
Greatly.Certainly, the pliability of skin also with spring model coefficient of elasticitySize it is related, codetermined by the two.
When fictitious force collision detecting device 3 detects collision, force feedback computing device 401 is calculated according to paracentesis depth
The size of feedback force simultaneously passes the data to force feedback equipment 5, and operator can pass through 5 real-time experience of force feedback equipment to effect
Force feedback.Meanwhile skin surface geometrical model 1 updates the position of contact point according to paracentesis depth, according to propagation depth calculation
Deformation region out updates model rendering figure in virtual scene device 2, provides visual feedback.
The deformation simulation of skin surface Real-time force feedback interactive system generally requires relatively high real-time, this is just to this
The calculating speed and refreshing frequency of system have very high requirement.Vision, power is set to feel to reproduce that there is continuity, detection device 3 detects
The skin deformation refresh rate of skin surface geometrical model 1 is not less than 30Hz, and node data should be with the refreshing frequency of new equipment 6
1kHz or more.Requiring the calculating of force feedback has the characteristics that rapidity.
Haptic interaction device used in experiment can accurately track the three-dimensional motion of manpower, and will be calculated by dummy model
Fictitious force feed back to operator in real time, power feel on feeling of immersion true to nature is provided.The maximum output of force feedback equipment 5 is fed back
Power is 3.3N.
Above-mentioned specific embodiment be only to clearly illustrate example of the present invention, and not to embodiment
It limits.For those of ordinary skill in the art, other different forms can also be made on the basis of the above description
Variation or variation, there is no necessity and possibility to exhaust all the enbodiments, and thus amplifies out apparent
Variation or change still in protection scope of the present invention.
Claims (6)
1. a kind of virtual skin surface Real-time force feedback interactive system, which is characterized in that including：Skin surface geometrical model (1),
Virtual scene device (2), detection device (3), computing device (4), force feedback equipment (5), node data are with new equipment (6), institute
Stating skin surface geometrical model (1) is the geometrical model for being established and being rendered skin surface based on OpenGL, and the skin surface is several
It joined spring-mass model (101) in what model (1), be that each particle devises in the spring-mass model (101)
One spring model (102), the skin surface geometrical model (1) connect with virtual scene device (2), the virtual scene dress
It sets (2) to connect with detection device (3), the detection device (3) connect with computing device (4), and the computing device (4) includes power
Feed back computing device (401) and model deformation computing device (402), the force feedback computing device (401) and force feedback equipment
(5) it connects, model deformation computing device (402) and node data are connected with new equipment (6), the force feedback equipment (5)
It is connect respectively with virtual scene device (2) with node data with new equipment (6).
2. a kind of virtual skin surface Real-time force feedback interactive system according to claim 1, which is characterized in that the bullet
Spring model (102) is positive hexagonal structure model structure.
3. a kind of virtual skin surface Real-time force feedback interactive system according to claim 1 or 2, which is characterized in that institute
Stating the direction of spring model (102), it is consistent with the direction of stress.
4. a kind of virtual skin surface Real-time force feedback interactive system according to claim 1, which is characterized in that the inspection
The skin deformation refresh rate for surveying device (3) detection skin surface geometrical model (1) is not less than 30Hz.
5. a kind of virtual skin surface Real-time force feedback interactive system according to claim 1, which is characterized in that the power
The maximum output feedback force of feedback device (5) is 3.3N.
6. a kind of virtual skin surface Real-time force feedback interactive system according to claim 1, which is characterized in that the section
Point data should be in 1kHz or more with the refreshing frequency of new equipment (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810519371.9A CN108874125A (en) | 2018-05-28 | 2018-05-28 | A kind of virtual skin surface Real-time force feedback interactive system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810519371.9A CN108874125A (en) | 2018-05-28 | 2018-05-28 | A kind of virtual skin surface Real-time force feedback interactive system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108874125A true CN108874125A (en) | 2018-11-23 |
Family
ID=64335132
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810519371.9A Pending CN108874125A (en) | 2018-05-28 | 2018-05-28 | A kind of virtual skin surface Real-time force feedback interactive system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108874125A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106371579A (en) * | 2015-12-24 | 2017-02-01 | 北京智谷睿拓技术服务有限公司 | Method and device for controlling deformation of flexible virtual reality interaction controller, and virtual reality interaction system |
| CN106485000A (en) * | 2016-10-11 | 2017-03-08 | 南京信息工程大学 | Based on virtual spring and spherical harmonic function Force Feedback Model modeling method |
| WO2017083539A1 (en) * | 2015-11-10 | 2017-05-18 | WiseWear Corporation | Tactile messaging via a wearable device |
| CN106843475A (en) * | 2017-01-03 | 2017-06-13 | 京东方科技集团股份有限公司 | A kind of method and system for realizing virtual reality interaction |
| CN107092358A (en) * | 2008-12-10 | 2017-08-25 | 意美森公司 | Method and apparatus for providing the touch feedback from tactile yarn fabric |
| CN107992672A (en) * | 2017-11-28 | 2018-05-04 | 电子科技大学 | A kind of soft tissue deformation modeling method based on virtual spring |
-
2018
- 2018-05-28 CN CN201810519371.9A patent/CN108874125A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107092358A (en) * | 2008-12-10 | 2017-08-25 | 意美森公司 | Method and apparatus for providing the touch feedback from tactile yarn fabric |
| WO2017083539A1 (en) * | 2015-11-10 | 2017-05-18 | WiseWear Corporation | Tactile messaging via a wearable device |
| CN106371579A (en) * | 2015-12-24 | 2017-02-01 | 北京智谷睿拓技术服务有限公司 | Method and device for controlling deformation of flexible virtual reality interaction controller, and virtual reality interaction system |
| CN106485000A (en) * | 2016-10-11 | 2017-03-08 | 南京信息工程大学 | Based on virtual spring and spherical harmonic function Force Feedback Model modeling method |
| CN106843475A (en) * | 2017-01-03 | 2017-06-13 | 京东方科技集团股份有限公司 | A kind of method and system for realizing virtual reality interaction |
| CN107992672A (en) * | 2017-11-28 | 2018-05-04 | 电子科技大学 | A kind of soft tissue deformation modeling method based on virtual spring |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11287892B2 (en) | Haptic information presentation system | |
| US11385723B2 (en) | Haptic information presentation system and method | |
| US10936072B2 (en) | Haptic information presentation system and method | |
| Peng et al. | Walkingvibe: Reducing virtual reality sickness and improving realism while walking in vr using unobtrusive head-mounted vibrotactile feedback | |
| JP2022177024A (en) | Head posture mixing for audio file | |
| KR101917101B1 (en) | Vibrating apparatus, system and method for generating tactile stimulation | |
| CN105392102B (en) | Three-dimensional sound signal generation method and system for aspherical loudspeaker array | |
| Georgiou et al. | Touchless haptic feedback for VR rhythm games | |
| US20110148607A1 (en) | System,device and method for providing haptic technology | |
| CN101976298B (en) | Modeling method of symmetrical type plate spring virtual model enhancing haptic feedback | |
| CN107992672A (en) | A kind of soft tissue deformation modeling method based on virtual spring | |
| CN109491506A (en) | A kind of display terminal and display control method | |
| CN101976299A (en) | Modeling method of symmetrical laminated spring virtual model for flexile force touch reappearance | |
| CN106980377A (en) | The interactive system and its operating method of a kind of three dimensions | |
| CN104063057B (en) | Volute spiral spring simulation system supporting haptic feedback enhancement | |
| JP2020098649A (en) | Tactile force sense information presentation system | |
| Mihelj et al. | Introduction to virtual reality | |
| Yang et al. | Influence of multi-modality on moving target selection in virtual reality | |
| Shtarbanov et al. | Free-space haptic feedback for 3d displays via air-vortex rings | |
| CN108874125A (en) | A kind of virtual skin surface Real-time force feedback interactive system | |
| Ryu et al. | Using a vibro-tactile display for enhanced collision perception and presence | |
| Luna | Introduction to virtual reality | |
| Ghenna et al. | Control and evaluation of a 2-d multimodal controlled-friction display | |
| CN106371574A (en) | Tactile feedback method and apparatus, and virtual reality interaction system | |
| Geronazzo | Mixed structural models for 3D audio in virtual environments |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181123 |