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中文摘要：
针对如何提高虚拟触觉再现的精度与实时性问题，提出了一种新颖的基于物理意义的平行菱形链连接触觉变形模型。该模型中各个链结构单元中菱形的长度等比例变化，因而计算量小；改变链结构单元中菱形的长度和夹角就可方便对不同的柔性体进行建模，系统中各个链结构单元的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的接触力。利用手控器对柔性体的接触变形和实时虚拟触觉反馈进行了仿真。实验表明所提出的方法适用于柔性体的触觉反馈计算，能够满足精细作业对虚拟现实系统的要求。
英文摘要：
To improve the accuracy and computation speed of virtual haptic rendering, a novel parallel rhombus-chain-connected haptic deformation model based on physics is proposed. Because the rhombuses in every chain structure unit are proportional in length, calculation cost is less and deformation modeling is easier for different soft objects using this model by only changing the length and angle of rhombus. The accumulation of relative displacements in every chain structure unit is equal to the object surface deformation, and the resultant force of springs is equal to the external force. The results of the simulations on the contacting deformation and the real-time virtual haptic feedback of a soft object by using the delta haptic device show that the proposed method is suitable for the haptic feedback computation for a virtual deformation body, and can meet the operation requirements of virtual reality systems.
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