The Simulation Research Of Virtual Hand Grasping Force

The interaction of virtual hand aims to insert manual operation information into virtual context. The master slave controls the corresponding virtual hand to operate the virtual objects.In order to promote the naturality and authenticity of virtual hand interaction, a virtual hand grasping force feedback system based on the virtual hand interaction is proposed in this paper,which mainly includes the acquisition of human finger joints positions based on CybergloveII glove, the attainment of the manipulator based on the PPT tracker as well as the generation of virtual hand grasping force based on physics, which aim to achieve interaction of virtual hand and generation of grasping force through setting the access and intention of virtual hand. The experimental results show that this method can obtain the data of hand movement, realize the virtual hand operation of master slave control, generate realistic grasping force and conduct interaction along with the natural and fast response speed as well as a sense of authenticity.The main work of this paper is to design the virtual object operating system and virtual hand grasping force feedback system based on data glove, PPT tracking device and other virtual reality appliances. Completing the calculation for important attribute of virtual objects and the comparison of mechanical platforms for object lifting experiments is able to verify the authenticity of the virtual hand grasping force feedback system. Experiments are carried out on virtual glove and PPT tracking device, which can improve the authenticity and immersion of user experience in virtual hand grasping feedback.Firstly, this paper describes the background, purpose and significance of the virtual hand grasping force. With reviewing of the domestic and international research on this topic, this thesis aims to introduce the research process of virtual hand grasping force feedback system,compare domestic and international research process and methods, sum up the calculation procedure, design and research on the emphasis and difficulties points in the virtual environment of visual transmission, including data transmission and reception of data glove, the data tracking process by PPT tracking system and the way by which real-time dynamic data collected could be transferred to the workstation as well as the approach by which virtual hand could be driven in virtual context and virtual objects could be dynamically moved. In terms of virtual hand grasping virtual object, the problem of contact points between virtual hand and virtual object, theimportant attributes of virtual object, such as the weight loss of weighting method, and the problem of feedback force for each contact point, are presented in this paper.Secondly, for the above problems, this paper makes a clear algorithm design, in the meanwhile, designs a set of software involving data glove, PPT tracking system and virtual hand grasping force feedback algorithm, which is used to provide users with a natural and immersive virtual context based upon human-computer interaction system.Thirdly, this paper makes a corresponding experimental research on the algorithm and the design of the system, ranging from the construction of the mechanical platform aiming to verify the authenticity of the virtual hand grasp force to verifying the quantity of virtual object grasping force solution, in the meanwhile, verifying the real-time force feedback experiment with the application of data glove and PPT tracking system. These experiments have been demonstrated in detail in the following chapters.Finally, the paper summarizes the full text, and illustrates the prosperity of the virtual hand grasping force feedback system.