实时有限元手指捏握仿真

M. Pouliquen, C. Duriez, C. Andriot, A. Bernard, L. Chodorge, F. Gosselin
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引用次数: 15

摘要

本文讨论了基于物理的模拟人类手指的虚拟现实应用与触觉反馈。变形和接触模型基于有限元法。我们表明,通过对有限元模型的良好假设和旋转方法,我们可以实现虚拟手指执行交互式抓取任务。我们还表明,由于Gauss-Seidel类型的分辨率方法,我们可以加快CPU时间复杂的多接触模拟与摩擦。我们描述了用可变形手指实时抓取刚性物体的二维初步结果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Real-time finite element finger pinch grasp simulation
This paper addresses physically-based simulation of human fingers for virtual reality applications with haptic feedback. Deformation and contact models are based on finite element method. We show that with good assumptions for the finite element model and with a corotational approach, we can achieve virtual fingers to perform an interactive grasp task. We also show that thanks to the Gauss-Seidel type resolution method we can speed up the CPU time for complex multi-contact simulations with friction. We describe preliminary results in 2D for grasping rigid objects with deformable fingers in real-time.
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