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中文摘要：
为提高软组织变形仿真的精度与实时性，提出一种新颖的、基于物理意义的层状菱形链连接模型．该模型中每层各个链结构单元相对位移的叠加对外等效为物体表面的变形，与之相连的弹簧弹性力的合力等效为物体表面接触力．利用6-DOF Delta手控器构建了力触觉交互实验系统，使用虚拟软组织模型进行按压、拉拽等交互操作，并通过反馈力产生触觉感．实验结果表明，该模型不仅计算简单，而且能够保证触觉接触力和变形计算具有较高精度；同时在交互过程中，力触觉感觉平稳、模拟效果逼真、满足虚拟现实系统对精细作业和实时性的要求．
英文摘要：
In order to improve the precision and the real-time performance of simulating soft tissue deformation, a novel physically-based layered rhombus-chainconnected deformation model is proposed. The accumulation of relative displacements in every chain structure unit in every layer is equal to the object surface deformation in the model, and the resultant force of corresponding springs is equivalent to the external force. The haptic interactive system is built upon a hand controller of Delta 6-DOF, with which the interactive operations such as pressing and stretching the virtual soft tissue are carried out and the tactile sense is produced by the feedback force. The experimental results show that the proposed model has less calculation cost and can ensure higher precision in calculating the contact force and the deformation. Meanwhile, it can provide stable force and nature simulation effect to human operator and satisfy the requirement of real time-performance and accurate operation in our virtual reality system.
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