虚拟现实环境下虚拟手控制技术研究
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摘要
虚拟手控制是虚拟现实关键技术之一。根据手的解剖结构和运动约束关系,建立了虚拟手的关节模型和实体模型。通过数据手套获取手指姿态数据进而确定虚拟手指弯曲的角度,通过驱动关节实体在其局部坐标系中的旋转运动来实现虚拟手指的位姿控制。通过位置跟踪器获取操作者手掌的位姿数据,采用数据分解和矩阵变换的方法将其映射为虚拟手掌在虚拟现实环境中的位姿,实现了对虚拟手的准确控制。
The control of virtual hand is one of key techniques to realize virtual reality.The joint model and entity model of virtual hand, according to the physiological features and motion constraints of real hand, were constructed.The flexion angles of virtual fingers joints, according to the gesture of real fingers, were determined by the raw data of data glove.Rolling the joint entities in their local coordinates controls the virtual fingers' positions and gestures.The collision detection algorithm based on bounding boxes is adopted to avoid the penetration between virtual fingers and virtual palm effectively.The gestures of real palm that obtained by position tracker are mapped to the gestures of virtual palm in the virtual reality environment by data mapping and transfer matrixes.Finally the virtual hand can be controlled accurately.
The control of virtual hand is one of key techniques to realize virtual reality.The joint model and entity model of virtual hand, according to the physiological features and motion constraints of real hand, were constructed.The flexion angles of virtual fingers joints, according to the gesture of real fingers, were determined by the raw data of data glove.Rolling the joint entities in their local coordinates controls the virtual fingers' positions and gestures.The collision detection algorithm based on bounding boxes is adopted to avoid the penetration between virtual fingers and virtual palm effectively.The gestures of real palm that obtained by position tracker are mapped to the gestures of virtual palm in the virtual reality environment by data mapping and transfer matrixes.Finally the virtual hand can be controlled accurately.
引文
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[2]费敏锐,王晓莉,李力雄,等.基于虚拟现实的远程测控系统若干技术的研究[J].系统仿真学报,2008,20(2):386-390.(Fei Min-rui,Wang Xiao-li,Li Li-xiong.Some New Developments in Remote Monitoring and Control Systems Based on Virtual Reality[J].Journal of System Simulation(S1004-731X),2008,20(2):386-390.)
[3]杨宏生,裴忠才,曹宗胜,等.地震救援虚拟仿真系统中虚拟手的操作[J].系统仿真学报,2008,18(12):3425-3429.(Yang Hong-sheng,Pei Zhong-cai,Cao Zong-sheng.Manipulation of Virtual Hand in Virtual Reality System for Earthquake Rescue[J].Journal of System Simulation(S1004-731X),2008,18(12):3425-3429.)
[4]曾芬芳,梁柏林,等.基于数据手套的人机交互环境设计[J].中国图像图形学报,2000,5(2):153-157.
[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]王天柱,李文辉,王祎,崔虎,等.基于组件的虚拟手建模及碰撞检测[J].吉林大学学报(理学版),2006,44(4):599-605.
[7]王文涛,李世其,熊友军.面向对象的虚拟手技术研究及实现[J].计算机工程与科学,2006,28(2):45-47.
[8]李琪,白英彩,曾芬芳.一个虚拟手原型的实现[J].上海交通大学学报,1999,33(11):1377-1380.
[9]刘林,熊巍.虚拟手在Vega中的设计与实现[J].机械制造,2006,44(498):21-24.
[10]Dr.Manolya Kavakli Dilshan Jayarathna.Virtual Hand:An Interface for Interactive Sketching in Virtual Reality[C]//Proceedings of the2005International Conference on Computational Intelligence for Modelling,Control and Automation,and International Conference on Intelligent Agents,Web Technologies and Internet Commerce(CIMCA-IAWTIC’05).Vienna,Austria,IEEE Computer Society.2005:613-618.
[11]Mamy Pouliquen,Alain Bernard,Jacques Marsot,Laurent Chodorge.Virtual hands and virtual reality multimodal platform to design safer industrial systems[J].Computers in Industry(S0166-3615),2007,58(1):46-56.
[12]王洛夫,张正治,刘正津.指屈肌腱鞘滑车系统的巨微解剖学研究[J].解剖学报,1998,29(4):342-346.
[13]刘江省,姚英学,李建广,等.虚拟装配中基于数据手套的虚拟操作研究[J].系统仿真学报,2004,16(8):1743-1747.(Liu Jiang-sheng,Yao Ying-xue,Li Jian-guang.Virtual Manipulation Based on Data Glove in Virtual Assembly[J].Journal of System Simulation,2004,16(8):1743-1747.)
[14]Fifth Dimension Technologies.Data gloves for the fifth dimension user’s manual[M].California,USA:Fifty Dimension Technologies,2000.
[15]Ascension Technology Corporation.Flock of Bird,Windows Driver User Manual[M].Vermont,USA:Ascension Technology Corporation,2004,12.
[16]孙家广,胡事民.计算机图形学基础教程[M].北京:清华大学出版社,2005:175-181.
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