摘要： 以人机工程学测试为目标提出虚拟手仿真模型，建立虚拟手运动学模型。提出一种曲线拟合的校准方法，以获取精确的数据，更好地控制虚拟手的运动。建立弹簧模型计算手与被抓取物体之间的受力，以视觉渲染的形式将其反馈给用户。实验结果表明，虚拟手可自然地抓取三维虚拟物体，视觉反馈的使用可免于购买昂贵的力反馈设备。

关键词: 虚拟现实, 虚拟手, 碰撞检测, 数据手套, 人机工程学

Abstract: Aiming at ergonomics test, a virtual hand simulation model is presented. A virtual hand kinematic model is established, and a new calibration method based on curve fitting is presented in order to gain accurate data to well control the motion of the virtual hand. The grasping force between virtual hand and grasped object is calculated through the establishment of hand spring model, and the feedback of this force is in the form of visual rendering to the users. Experimental results show that virtual hand can grasp 3D object naturally and the use of visual feedback avoids the purchase of expensive force feedback devices.

Key words: virtual reality, virtual hand, collision detection, data glove, ergonomics

中图分类号: 

• TP316