基于力封闭的虚拟手稳定抓持力生成方法

为解决虚拟训练中抓持力反馈生成的问题，研究了满足软指点接触模型的力封闭条件。基于力封闭求解中的操作力和内力的摩擦锥条件，通过非线性规划方程求解内力平衡和内力满足摩擦锥条件，并获取最稳定抓持的标准；提出需求压力和可提供压力的概念，建立了稳定静力抓持模型，实验实现了抓持力的生成。本文方法为虚拟手交互中的力觉生成提供了一种新方法。

Method of generating a stable grasp force of virtual hand based on physics

Purpose:To solve the problems arising from grip force feedback in virtual training.Process:In this paper,the conditions of force closure satisfying the soft-finger model are studied,and based on the cone of friction conditions of force and the balance of internal force in the force-closure solution,(1) We solve the internal force equilibrium and the internal forces to satisfy the friction cone by the nonlinear programming equation and obtaining the standard of the most stable grasping;(2) We put forward the concept of demand pressure and supply pressure.Method:On the basis of (1) and (2),a stable static grasping model is established,and the generation of the grasping force is realized experimentally.Conclusion:The method provides theoretical support for force generation in the virtual hand interaction.