地震救援虚拟仿真系统中虚拟手的操作

详细信息 本馆镜像全文    |  推荐本文 | | 获取馆网全文

英文篇名：Manipulation of Virtual Hand in Virtual Reality System for Earthquake Rescue 中文刊名：系统仿真学报 英文刊名：Journal of System Simulation 作者：杨宏生 ; 裴忠才 ; 曹宗胜 ; 向日华 英文作者：YANG Hong-sheng1 ; 2 ; PEI Zhong-cai1 ; CAO Zong-sheng2 ; XIANG Ri-hua2 (1.School of Automatic Control ; BHU ; Beijing 100083 ; China ; 2.Center for Engineering Design and Research under the Headquarters of General Equipment ; Beijing 100028 ; China) 中文关键词：虚拟现实 ; 虚拟手 ; 抓取规则 ; 碰撞检测 英文关键词：virtual reality ; virtual hand ; rules for grasping ; collision detection 出版日期：2006-12-05 机构：北京航空航天大学自动化科学与电气工程学院,北京航空航天大学自动化科学与电气工程学院,总装备部工程设计研究总院,总装备部工程设计研究总院 北京100083 总装备部工程设计研究总院,北京100028,北京100083,北京100028,北京100028 年：2006 期：12 出版单位：系统仿真学报

摘要

对虚拟手操作进行了分类,用Creator软件建立了虚拟手几何模型。分析并总结了地震现场救援虚拟仿真系统中虚拟手对救援装备的三种操作方式,即对杆状物的掌抓取、对按钮的指尖推动和对开关(旋钮)的指侧面抓取。在Vega环境下,提出了适合每种基本操作的通用碰撞检测方式和通用的相交矢量放置模式,保证了虚拟手操作的逼真度和实时性,并实现了虚拟手对三种类型救援装备的抓取、移动和释放。虚拟手对三种装备的操作同样适用于其它装备。
Three kinds of manipulation to equipments in a virtual reality system for earthquake rescue were analyzed and summarized, including palm opposition to poles, fingertip pushing to button and side opposition to switch. Based on the structure and the kinematics model of hand, the geometrical model of hand was built via Creator. The general method of virtual hand collision detection in Vega was proposed, which was satisfied with fidelity and real time simultaneously. Also the moving and releasing of the equipments that virtual hand grasped were achieved. Experimental results show the three kinds of manipulation are applicable to other equipments.

引文

[1]J Lee,T Kunii.Model-based Analysis of Hand Posture[J].IEEE Computer Graphics and Applications(S0272-1716),1995,15(5):77-86.
    [2]Stergiopoulos P,Moreau G,Ammi M,Fuchs P.A Framework for the Haptic Rendering of the Human Hand[C]//In the Proceedings of the IEEE VR2003,11th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems,LosAngeles CA,March2003.
    [3]John Lin,Ying Wu,Thomas S Huang.Modeling the Constraints of Human Hand Motion[J].IEEE Computer Society(S1521-9615),2000.
    [4]Thomas Ullmann,Joerg Sauer.Intuitive Virtual Grasping for non Haptic Environments[J].IEEE(S0144-5154),2000.
    [5]李志华,钟毅芳.虚拟手模型及其抓取技术[J].小型微型计算机系统,2003,24(6):1071-1074.
    [6]张睿,张锡恩,谢建华.碰撞检测在操作训练仿真系统中的应用[J].兵工自动化,2005,24(1):22-24.
    [7]周炜,刘继红.虚拟环境下人工拆卸的实现[J].华中理工大学学报,2002,28(2):45-47.
    [8]周炜,易建军,郑建荣,等.虚拟环境下物体的手抓取[J].计算机辅助工程,2004,13(2):41-44.
    [9]陈辉,宋爱国,黄惟一.人手抓取特性与机械手神经网络抓取策略[J].东南大学学报,1999,29(2):19-21.