The sliding point contact model is similar to the pressing point contact model, except that when the virtual probe slides on the virtual fabric surface, if the distance between the virtual probe and the virtual fabric remains within the limit distance, the force feedback engine continues The feedback force is calculated to continuously output a stable force, simulating the frictional force of the operator when sliding with the finger on the surface of the fabric.
The prototype system of real-time deformation and tactile feedback of virtual fabric is based on PHANToM haptic feedback interaction device. This paper establishes a virtual fabric deformation and tactile feedback prototype system (VFDP.V1.0). The real-time deformation of the system fabric virtual fabric and the hardware portion of the haptic feedback system consist of a computer and a PHANToM haptic feedback interaction device. The software part includes four modules: scene rendering, collision detection, deformation simulation and tactile rendering.
The scene rendering module renders the virtual fabric in real time; the collision detection module detects the collision between the virtual probe and the virtual fabric in real time; the deformation module updates and maintains the spring particle model, uses the explicit Euler method to solve the spring particle model, and is responsible for updating the scene rendering and collision detection. The particle point in the module where the spatial position changes; the haptic rendering module uses the haptic model to calculate the feedback force and outputs it to the haptic interaction device, so that the operator feels the feedback force. Simulation Flowchart System Hardware Configuration Environment The haptic interaction device adopts PHANToM Omni. The PC is configured to start initializing the virtual fabric scene, initialize the point contact model, and whether the collision detection contacts the calculated contact force and the particle position, and whether the scene refresh output feedback force ends. The virtual virtual fabric cut surface is momentarily virtual probe position proxy point (VHIP). The current virtual probe position is based on the virtual fabric tactile generation of the improved spring particle model.
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