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Modeling of soft objects, measurement of elasticity, and real-time virtual system

软体建模、弹性测量、实时虚拟系统

基本信息

批准号：
10680403
负责人：
KANEKO Toyohisa
金额：
$ 1.98万
依托单位：
Toyohashi University of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1998
资助国家：
日本
起止时间：
1998 至 2000
项目状态：
已结题

项目摘要

Generally the objects that Virtual Reality deals with are solid and hard. However, there are many objects that are neither solid nor hard, i.e. soft and deformable objects. This research has been concerned with the approach to deal with such objects. We will define softness and measure the softness of actual soft, deformable objects. Two examples that were investigated are human face and a silicone cube. The softness has been defined as a relation between the force and displacement. To represent a soft object, we employed a spring network model which connects two adjacent nodes with a spring. In order to allocate nodes, we used a bubble mesh method which places equally spaced bubbles in a soft region. The criteria for deciding whether bubbles are connected or not was carried out through the Vornoi Diagram.Then the next problem is how to determine the spring constants of the model. We vary spring constants until the identical relation between force and displacement are obtainable between the real soft object and the virtual object. We constructed a specially designed system for measuring softness which consists of a laser displacement device and a force measurement device. To identify the spring constant, we set it to be identical locally. We set five measuring points on the silicone cube and nine points on a human face.After successful measurement of softness, we built a virtual reality system on a PC with a force feedback device, a PHANToM.It has been found that this system is able to give us an illusion of touching the silicone cube and the human face. It is expected that this system will open a new avenue for expanding the field of VR to treat soft objects.

通常，虚拟现实处理的对象都是坚硬的实体。然而，有许多对象既不是实体也不是硬的，即软的和可变形的对象。这项研究关注的是如何处理这类对象。我们将定义柔软度并测量实际柔软、可变形对象的柔软度。调查的两个例子是人脸和硅胶立方体。柔度被定义为力和位移之间的关系。为了表示软对象，我们采用了一种弹簧网络模型，该模型将相邻的两个节点与一个弹簧连接起来。为了分配节点，我们使用了一种气泡网格法，将等间距的气泡放置在一个软区域中。通过Vornoi图给出了判断气泡是否相连的判据，接下来的问题是如何确定模型的弹性常数。我们改变弹性常数，直到在真实的软物体和虚拟物体之间可以得到相同的力和位移关系。我们构建了一套专门设计的柔度测量系统，该系统由激光位移装置和测力装置组成。为了识别弹簧常数，我们将其设置为在本地相同。我们在硅胶立方体上设置了5个测量点，在人脸上设置了9个测量点，在成功测量柔软度后，我们在PC机上使用力反馈设备PHANToM构建了一个虚拟现实系统，该系统能够给人一种触摸硅胶立方体和人脸的错觉。预计该系统将为扩大VR领域治疗软性物体开辟一条新的途径。