The Hand Kinematics Simulation Based On Virtual Reality

Exploiting space resourcex sea resource and atomic energy will be a very important mission in 21st century, but these special environments are dangerous to mankind, so we have to make use of tele-operation. However, the current technology of man-machine interface cannot effectively deal with these complicated tasks and result in heavy burden to operator. Especially when the system of vision is blocked, the operator cannot perform the general tele-operation. In addition, the training of operator is also difficulty. In order to solve these problems, we lead Virtual Reality (VR) technology into tele-operation, and adopt the modified scheme of man in the loop simulation. After leading VR into tele-operation, we can resolve: (l)the tasks are continued to be executed by information from Virtual Environment (VE), when distant vision is blocked; (2)me operator also rely on pre-display system of VE to finish real-time tele-operation, when there are communication postpone; (3)the convenient training is also provided.First, this dissertation discusses the platform of software and hardware of VE, establishes the human-hand model, and introduces in detail the modeling tool of Alias and the exploiting environment of IRIS Performer. In procedure of modeling, the geometric modeling and dynamic modeling of targets are mainly studied.Second, the human-hand tele-operation simulation system is implemented with the help of modeling technology of VE. In the system, This dissertation derives the simplified kinetic model for describing human-hand from the joint's skeleton structure discussion based on physiology. On the other hand, the low and high level control strategy is studied starting with the joints of hand, at the same time, some simulation experiments are given.Finally, in order to improve the efficiency and naturalness of man-machine interaction, this dissertation study the 3D man-machine interface of the three-dimensional space interaction technology based on gesture and give a gesture recognition method based on hand model.The study on the modeling technology of VE and the 3D space interaction technology based on gesture provides important key technology for the VR tele-operation system.