The Physical Model Of Particle Pressure And Simulation Based On Haptic Device

Traditionally, the research and applications of VR are limited in the field of graphical and audio displays. However, with the developments of computer science and robotic technology, the haptic interaction art comes into the focus of VR field across the world recently. Many institutions of developed countries have explored this area and even developed some commercial products. In contrast, the domestic state-of-art technology in VR, especially in haptic interaction, has a considerable gap compared to the developed states.In this thesis, above all, the concept and applications of haptic interaction in VR are introduced; the domestic and overseas state-of-art is described; the various methods and philosophies enabling the haptic display at present are discussed. The main research content of this thesis about the steerable virtual panel (SVP), the operator can ignite, launch and reset air vehicle with SVP. The key points of this thesis include: improving the velocity of collision detection from point to faceplate and considerable mathematic modeling for a particle in haptic interaction.Fast and exact collision detection is very important to improve reality and enhance immersion for virtual environment. In order to keep in step with visual scene and operation, the collision detection arithmetic needed to be improved and optimized. Based on the analysis the characteristics of AABB(Axis-Aligned Bounding Boxes) and OBB (Oriented Bounding Box)algorithm, AABB is optimized and the test proves that the velocity of optimized arithmetic has improved.A method of collision force generation and feedback with friction for virtual particle interaction in virtual environments is proposed. Based on impulse theorem and coefficient of elastic recovery, the motion rules for virtual objects after collision in 2-Division space are deduced. By Coulomb's friction model, this paper describes the generation of collision force in planar space which is explored to 3D virtual space, and collision force and collision moment in virtual environment are achieved. The means of collision force acting on hand is discussed, and impulsive force with field force, damp force and inertia force for particle is calculated by virtual particle optimized models with minimum force spiral. Experimental results show that using the collision force generation and feedback method, the user can sense realistic impulsive forces via the SensAble Phantom Haptic Device caused by virtual collision. This method succeeds in solving the problem of haptic modeling in this system.