力覚提示を目的とした指先と空間との干渉計算

概要

論文の詳細を見る
It is a common approach to simulate the colliding farce by defining an ideal fingertip that moves while satisfying physical cinstains. In the approach, the constraint force is obtained from the disparity between the real and ideal fingerips. In this paper, we propose a method if simulating the motion of the ideal fingertip in virtual environment. To represent spatial variation of the material, we divided the space into tetrahedral elements and defined the characteristics of the element. The movement of fingertip in an element is simulated on the basis of physical constraint. Fingertip transfer between neighboring elements and the change of bound state on the boundary is described by introducing the idea of state transition. We implemented the proposed method, estimated the computation tinme, and proved that the method is fast enough for the application to real-time simulation.
社団法人電子情報通信学会の論文
1999-06-07