Object Manipulation In The Immersible Virtual Environment

Immersible virtual reality, an emerging field of research that is analogous to virtual reality (VR), is concerned with the feeling that people could grasp the 3D virtual object in the virtual environment (VE) like in the real world. Based on the knowledge of VR,computer graphics and robotics, we do some research on the construction of the immersible virtual reality system(IVRS), especially in the field of object grasping. According to the grasping we do in the real world, we build the model of object in VE.The hand is simply modeled as a touch probe and a touch interface point, which is very convenient for us to do the object grasping research. The object, being as an Open Inventor file, is divided into hierarchical geometric primitives, which is also for the object grasping research.We set up a method called"Neighbor finding"to facilitate the fast and precise computation of the ideal touch interface point between the touch interface point and the object. For figuring out a more precise handle of the object in VE, we set up a force model, consisting of a frication force model and a pressure force model. Models whose surface is being aligned with different frication coefficient can be created by our frication force model. We can also figure out the condition of relative movement between the figure and the object. The stable handling of the object is also concerned in our method.We also focus on the movement model of the hand which is the base of all our research. Based on the software and hardware developed by us, we can ease the use of the data glove, which can compute the position and orientation of the hand joint and test the precision of the data glove.